[
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Rain. C. Bright. D. Sensor failure",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5073,0.5778> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5073,0.5778> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5073,0.5778> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and continue ahead.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to perceive details. The road is straight with a warehouse on the right side. A gray sedan is positioned at the back of the ego vehicle at coordinates <c1,CAM_BACK,0.5073,0.5778>. In front, there is another gray sedan at <c2,CAM_FRONT,0.4886,0.5481> and a black SUV at <c3,CAM_FRONT,0.6058,0.5769>. The brightness may obscure some details, but the vehicles are clearly visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Fog. C. Bright. D. Zoom blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.8911,0.4620> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The object is a white truck moving ahead, unaffected by the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5364,0.4806> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black pickup truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5364,0.4806> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the back of the ego vehicle, there is a stationary black pickup truck (<c1,CAM_BACK,0.5364,0.4806>). A white truck is moving to the front right (<c2,CAM_FRONT_RIGHT,0.8911,0.4620>). Directly in front, a yellow truck is stationary (<c3,CAM_FRONT,0.2911,0.4630>). A black SUV is moving behind the ego vehicle (<c4,CAM_BACK,0.7927,0.5056>). The brightness may cause glare, but key objects are identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Bright. C. Motion blur. D. Bit error",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.7380,0.5926> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The object is a black small sedan that is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.7380,0.5926> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a black small sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the brightness? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7380,0.5926> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to turn left. The reason is that there is no safety issue, which is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. To the back of the ego vehicle, there is a black small sedan moving ahead, identified at coordinates <c1,CAM_BACK,0.7380,0.5926>. To the back left, a black SUV is stationary at <c2,CAM_BACK_LEFT,0.1906,0.6426>. To the front left, a black small car is stationary at <c3,CAM_FRONT_LEFT,0.7547,0.5703>. The road appears wet, and the surroundings include buildings and vegetation, partially obscured by the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Color quant. C. Fog. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.8026,0.6222> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black car moving in the scene.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8026,0.6222> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8026,0.6222> considering the brightness?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. The road is lined with parked cars on both sides, and the surface appears wet. A black car is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.8026,0.6222>. In front, there is a stationary black sedan at <c2,CAM_FRONT,0.8359,0.6167>. To the front left, a silver white pickup truck is parked at <c3,CAM_FRONT_LEFT,0.6120,0.6083>, alongside another black sedan at <c4,CAM_FRONT_LEFT,0.8489,0.5852>. On the front right, a black SUV is stationary at <c5,CAM_FRONT_RIGHT,0.2016,0.7249>, and another black sedan is at <c6,CAM_FRONT_LEFT,0.2318,0.7176>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Dark. C. Color quant. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6261,0.6806> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black SUV moving ahead, and the brightness does not affect its movement status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6261,0.6806> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6261,0.6806> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to turn left because the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making visibility challenging. To the back of the ego vehicle, there is a moving black SUV at coordinates <c1,CAM_BACK,0.6261,0.6806>. In front, a stationary white car is positioned at <c2,CAM_FRONT,0.0427,0.6028>. Another stationary vehicle, a yellow bus, is located at <c3,CAM_BACK,0.0089,0.4870>. Additionally, a stationary black car is at the front right at <c4,CAM_FRONT_RIGHT,0.1594,0.5953>. The brightness affects the clarity of these objects, but their positions remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Motion blur. D. Saturate",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.5172,0.5481> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a brown Jeep moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.5172,0.5481> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a brown Jeep, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5172,0.5481> under bright conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5172,0.5481> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. A brown Jeep is moving ahead at coordinates <c1,CAM_FRONT_LEFT,0.5172,0.5481>. A white van is stationary in front of the ego vehicle at <c2,CAM_FRONT,0.5583,0.5074>. A black sedan is stationary to the front right at <c3,CAM_FRONT_RIGHT,0.3747,0.7290>. The brightness affects visibility, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. JPEG compression. D. Snow",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4089,0.5102> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a white truck moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4089,0.5102> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Accelerate and proceed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4089,0.5102> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. A white truck is moving ahead in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.4089,0.5102>. Behind the ego vehicle, a white bus is also moving, located at <c2,CAM_BACK,0.5505,0.5453>. To the front, a white pickup truck is moving at <c3,CAM_FRONT,0.6245,0.5496>. Stationary vehicles include a golden car at <c4,CAM_BACK_RIGHT,0.7442,0.6880> and a black sedan at <c5,CAM_BACK_LEFT,0.6891,0.6713>. A 'no right turn' sign is visible at <c6,CAM_FRONT_RIGHT,0.0739,0.5237>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. JPEG compression. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.6999,0.7006> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a black SUV moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.6999,0.7006> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.6999,0.7006> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to distinguish some details. To the front right, there is a black SUV moving, identified as <c1,CAM_FRONT_RIGHT,0.6999,0.7006>. A black car is also moving in the same direction, labeled <c2,CAM_FRONT_RIGHT,0.2199,0.6148>. Directly ahead, a white truck is moving, marked as <c3,CAM_FRONT,0.3266,0.5370>. Behind, a white bus is moving, identified as <c4,CAM_BACK,0.4442,0.5436>. A black sedan is moving in front, labeled <c5,CAM_FRONT,0.1609,0.6491>. A green light is visible ahead, marked as <c6,CAM_FRONT,0.5766,0.3392>. The brightness affects the visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. JPEG compression. C. Bright. D. H256 ABR compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4427,0.5389> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black car moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4427,0.5389> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car moving ahead, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4427,0.5389> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is low.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4427,0.5389> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to distinguish details. A black car is moving ahead in the center of the road, identified at coordinates <c1,CAM_FRONT,0.4427,0.5389>. To the front left, a silver sedan is stationary, located at <c2,CAM_FRONT_LEFT,0.4088,0.7663>. Behind to the left, a blue car is also stationary, positioned at <c3,CAM_BACK_LEFT,0.2036,0.7519>. The road is clear, with buildings and trees visible but slightly washed out due to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Sensor failure. C. Fog. D. Color quant",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red car to the front right of the ego vehicle, a black sedan to the back left of the ego vehicle, a black sedan to the back of the ego vehicle, and a pedestrian crossing line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.3661,0.6759>, <c2,CAM_BACK_LEFT,0.3286,0.5861>, <c3,CAM_BACK,0.4536,0.5361>, and <c4,CAM_FRONT,0.3468,0.8866>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK_LEFT,0.3286,0.5861> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a black sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.3661,0.6759> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a stationary red car.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.3661,0.6759> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the front right, there is a stationary red car positioned at coordinates <c1,CAM_FRONT_RIGHT,0.3661,0.6759>. Behind the ego vehicle, a black sedan is moving, located at <c2,CAM_BACK_LEFT,0.3286,0.5861> and <c3,CAM_BACK,0.4536,0.5361>. A pedestrian crossing line is visible in front of the ego vehicle at <c4,CAM_FRONT,0.3468,0.8866>. The bright conditions may affect the visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Rain. C. Sensor failure. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow sedan to the back of the ego vehicle, a person riding a motorcycle to the back right of the ego vehicle, a yellow bus to the front right of the ego vehicle, and a yellow roadblock to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6323,0.6314>, <c2,CAM_BACK_RIGHT,0.5146,0.7500>, <c3,CAM_FRONT_RIGHT,0.7364,0.4342>, and <c4,CAM_FRONT,0.9389,0.3974>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6323,0.6314> under brightness distortion? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a yellow sedan moving straight ahead, unaffected by brightness distortion.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6323,0.6314> a traffic sign or a road barrier under brightness distortion?",
    "answer": "No, Explanation: The object is a yellow sedan, not a traffic sign or road barrier, even under brightness distortion.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6323,0.6314> under brightness distortion?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6323,0.6314> under brightness distortion? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "751b62e2666e4144a1660fb962b2bd67",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness distortion, making it challenging to perceive details. The ego vehicle is surrounded by several key objects: a yellow sedan is moving behind it, identified at coordinates <c1,CAM_BACK,0.6323,0.6314>. To the back right, a person is riding a motorcycle, located at <c2,CAM_BACK_RIGHT,0.5146,0.7500>. Ahead, a yellow bus is moving to the front right at <c3,CAM_FRONT_RIGHT,0.7364,0.4342>, and a yellow roadblock is positioned directly in front at <c4,CAM_FRONT,0.9389,0.3974>. The brightness distortion affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986128427893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. JPEG compression. C. Bit error. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a pedestrian wearing black shorts to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5104,0.6028>, <c2,CAM_FRONT,0.6188,0.5519>, and <c3,CAM_FRONT,0.3104,0.5842>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5104,0.6028> under brightness corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a black sedan moving ahead, and the brightness does not affect its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under brightness 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?",
    "answer": "Firstly, notice that pedestrian wearing black shorts at front camera. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that black sedan at front camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that black sedan at back camera. The object is going ahead, so the ego vehicle should continue going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5104,0.6028> a traffic sign or a road barrier under brightness corruption?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5104,0.6028> under brightness corruption?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5104,0.6028> under brightness corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "cf652a711c8e40209132036a95162fed",
    "frame_token": "ed0dcc79c3eb4a1e83b9ecece71cb499",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive details. To the back of the ego vehicle, there is a moving black sedan at coordinates <c1,CAM_BACK,0.5104,0.6028>. In front, there is a stationary black sedan at <c2,CAM_FRONT,0.6188,0.5519> and a pedestrian wearing black shorts moving at <c3,CAM_FRONT,0.3104,0.5842>. The environment includes a road with visible markings and some greenery on the sides, though details are washed out due to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986133877893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Bit error. C. Saturate. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a pedestrian to the front left of the ego vehicle, a silver sedan to the front of the ego vehicle, a sedan to the back of the ego vehicle, and a pedestrian to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.3614,0.6241>, <c2,CAM_FRONT,0.5558,0.5778>, <c3,CAM_BACK,0.5672,0.5824>, and <c4,CAM_FRONT,0.0703,0.5620>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.3614,0.6241> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a pedestrian moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.3614,0.6241> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.3614,0.6241> considering the brightness?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly illuminated, causing potential glare and reduced visibility. To the front left, there is a moving pedestrian at coordinates <c1,CAM_FRONT_LEFT,0.3614,0.6241>. Directly ahead, a silver sedan is moving at coordinates <c2,CAM_FRONT,0.5558,0.5778>. Behind the ego vehicle, another sedan is moving at coordinates <c3,CAM_BACK,0.5672,0.5824>. Additionally, another pedestrian is moving in front of the vehicle at coordinates <c4,CAM_FRONT,0.0703,0.5620>. The brightness may affect the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Motion blur. C. JPEG compression. D. Snow",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver white pickup truck to the back of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a pedestrian wearing an orange shirt to the front right of the ego vehicle, and a red light to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8781,0.6120>, <c2,CAM_BACK,0.4688,0.6389>, <c3,CAM_FRONT,0.3958,0.5722>, <c4,CAM_FRONT_RIGHT,0.3255,0.5917>, and <c5,CAM_FRONT_RIGHT,0.0428,0.3679>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.8781,0.6120> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a silver white pickup truck moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8781,0.6120> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver white pickup truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8781,0.6120> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. To the back of the ego vehicle, there is a silver white pickup truck (ID: <c1,CAM_BACK,0.8781,0.6120>) and a black commercial vehicle (ID: <c2,CAM_BACK,0.4688,0.6389>). In front, a black SUV (ID: <c3,CAM_FRONT,0.3958,0.5722>) is stationary. A pedestrian wearing an orange shirt (ID: <c4,CAM_FRONT_RIGHT,0.3255,0.5917>) is moving to the front right, and a red light (ID: <c5,CAM_FRONT_RIGHT,0.0428,0.3679>) is visible at the intersection.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. H256 ABR compression. C. Rain. D. Bit error",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.4750,0.5917> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a white SUV moving straight ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a pedestrian to the front of the ego vehicle, a silver sedan to the back right of the ego vehicle, and a silver SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4854,0.5722>, <c2,CAM_BACK,0.4750,0.5917>, <c3,CAM_FRONT,0.5214,0.6203>, <c4,CAM_BACK_RIGHT,0.3036,0.7703>, and <c5,CAM_FRONT_RIGHT,0.1563,0.6963>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4854,0.5722> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4854,0.5722> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to slightly offset to the left in maneuvering. The reason is to avoid a collision, which has a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4854,0.5722> under bright conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily affected by brightness, making visibility challenging. In front of the ego vehicle, there is a stationary black SUV at coordinates <c1,CAM_FRONT,0.4854,0.5722>. Behind, a white SUV is moving at <c2,CAM_BACK,0.4750,0.5917>. A pedestrian is stationary in front at <c3,CAM_FRONT,0.5214,0.6203>. To the back right, a silver sedan is stationary at <c4,CAM_BACK_RIGHT,0.3036,0.7703>, and a silver SUV is stationary to the front right at <c5,CAM_FRONT_RIGHT,0.1563,0.6963>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Sensor failure. C. Bright. D. JPEG compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3042,0.5408> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white sedan moving ahead, and the brightness does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front of the ego vehicle, a white traffic sign to the front of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3042,0.5408>, <c2,CAM_FRONT,0.3073,0.5941>, and <c3,CAM_FRONT,0.2708,0.5396>. The brightness does not obscure these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice white traffic sign at front camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice white SUV at front camera. It is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice white sedan at front camera. It is going ahead, so the ego vehicle should continue ahead at the same speed. The brightness does not change the order of noticing.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3042,0.5408> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, and brightness does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right. The brightness does not necessitate a change in this plan.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3042,0.5408> under bright conditions?",
    "answer": "Slight right turn. The brightness does not change the risk of collision with this action.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, which may cause some glare but does not obscure visibility significantly. The road is clear with a white sedan moving ahead at coordinates <c1,CAM_FRONT,0.3042,0.5408>. A white traffic sign is visible at <c2,CAM_FRONT,0.3073,0.5941>, and a white SUV is also moving ahead at <c3,CAM_FRONT,0.2708,0.5396>. The surrounding buildings and trees are visible, though slightly washed out due to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Bright. C. Saturate. D. JPEG compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what are the important objects in the current scene? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a traffic police wearing black pants to the front right of the ego vehicle, a gray sedan to the front right of the ego vehicle, a silver sedan to the back left of the ego vehicle, a white SUV to the front of the ego vehicle, and a white truck to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.8344,0.6676>, <c2,CAM_FRONT_RIGHT,0.2250,0.6176>, <c3,CAM_BACK_LEFT,0.7661,0.6352>, <c4,CAM_FRONT,0.7172,0.5519>, and <c5,CAM_BACK_RIGHT,0.5964,0.5158>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.8344,0.6676> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a traffic police wearing black pants, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "Under bright conditions, is <c1,CAM_FRONT_RIGHT,0.8344,0.6676> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a traffic police wearing black pants, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, turn left, and decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "Under bright conditions, what actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.8344,0.6676>? Why take this action and what's the probability?",
    "answer": "The action is to turn left, the reason is to avoid a collision with the vehicle detected by the front right camera at a distance of 1335.0 meters and a relative speed of 600.8 m/s, and the probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "4284a8d9b40d42edb9725543db91381e",
    "frame_token": "81bb51133a85471cbf2949c6b279b65a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. To the front right, there is a traffic police wearing black pants, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.8344,0.6676>. A gray sedan is moving to the front right at <c2,CAM_FRONT_RIGHT,0.2250,0.6176>. Behind to the left, a silver sedan is stationary at <c3,CAM_BACK_LEFT,0.7661,0.6352>. Directly in front, a white SUV is stationary at <c4,CAM_FRONT,0.7172,0.5519>. Finally, a white truck is moving to the back right at <c5,CAM_BACK_RIGHT,0.5964,0.5158>. The brightness affects visibility, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728831378113.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Bit error. C. Bright. D. Saturate",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.7229,0.5620> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white obstacle to the front right of the ego vehicle, a silver sedan to the back of the ego vehicle, a black car to the front of the ego vehicle, a cone-shaped barrier to the back of the ego vehicle, and a walking person to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.5864,0.8241>, <c2,CAM_BACK,0.7229,0.5620>, <c3,CAM_FRONT,0.5859,0.5509>, <c4,CAM_BACK,0.2989,0.7417>, and <c5,CAM_FRONT_LEFT,0.5708,0.5287>. Brightness may obscure some details but does not change the objects' importance.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.5864,0.8241> a traffic sign or a road barrier under bright conditions?",
    "answer": "Yes, Explanation: The object is a white obstacle, likely a road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c2,CAM_BACK,0.7229,0.5620> under bright conditions? Why take this action and what's the probability?",
    "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. Brightness does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,0.7229,0.5620> under bright conditions?",
    "answer": "Back up. Brightness does not change the risk of collision from this action.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "672026f4880e440da4aff8367d289745",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making some details less visible. To the front right, there is a white obstacle (<c1,CAM_FRONT_RIGHT,0.5864,0.8241>). Behind the ego vehicle, a silver sedan (<c2,CAM_BACK,0.7229,0.5620>) is moving. In front, a black car (<c3,CAM_FRONT,0.5859,0.5509>) is also moving. A cone-shaped barrier (<c4,CAM_BACK,0.2989,0.7417>) is located behind, and a walking person (<c5,CAM_FRONT_LEFT,0.5708,0.5287>) is to the front left. The brightness may obscure some visual details but does not change the positions of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931882177916.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Color quant. C. Zoom blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red and white traffic cone to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a red and white traffic cone to the front right of the ego vehicle, a red and white traffic cone to the front left of the ego vehicle, and a worker wearing a yellow helmet to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3849,0.7139>, <c2,CAM_BACK,0.3231,0.6787>, <c3,CAM_FRONT_RIGHT,0.0661,0.6852>, <c4,CAM_FRONT_LEFT,0.6864,0.6694>, and <c5,CAM_FRONT,0.5989,0.5111>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.3231,0.6787> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a gray sedan moving and turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3849,0.7139> a traffic sign or a road barrier under bright conditions?",
    "answer": "Yes, Explanation: The object is a red and white traffic cone, which acts as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,0.3231,0.6787> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, turn left, and slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the front of the ego vehicle, there is a red and white traffic cone at coordinates <c1,CAM_FRONT,0.3849,0.7139>. A gray sedan is moving behind the ego vehicle at <c2,CAM_BACK,0.3231,0.6787>. On the front right, another red and white traffic cone is located at <c3,CAM_FRONT_RIGHT,0.0661,0.6852>, and to the front left, a similar cone is at <c4,CAM_FRONT_LEFT,0.6864,0.6694>. A worker wearing a yellow helmet is moving in front of the vehicle at <c5,CAM_FRONT,0.5989,0.5111>. The brightness affects the visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Bright. C. Fog. D. Dark",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front left of the ego vehicle, a silver sedan to the back of the ego vehicle, and a white truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.3613,0.4337>, <c2,CAM_BACK,0.6126,0.7140>, and <c3,CAM_FRONT_RIGHT,0.1589,0.4852>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.3613,0.4337> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a white truck moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that white truck at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that white truck at right camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that silver sedan at back camera. The object is turning left, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.3613,0.4337> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck moving ahead, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.3613,0.4337> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason is to avoid a collision. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, turn left safely.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. There is a white truck moving to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.3613,0.4337>. Another white truck is moving to the front right, located at <c3,CAM_FRONT_RIGHT,0.1589,0.4852>. A silver sedan is moving behind the ego vehicle at <c2,CAM_BACK,0.6126,0.7140>. The road appears wet, and the surrounding environment includes buildings and traffic signs, partially obscured by the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Bright. C. Snow. D. Sensor failure",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5948,0.5953> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white sedan car moving ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the back of the ego vehicle, a gray sedan to the back of the ego vehicle, and a gray-black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5948,0.5953>, <c2,CAM_BACK,0.1163,0.6926>, and <c3,CAM_FRONT,0.1344,0.5000>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5948,0.5953> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, and the brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that gray-black sedan at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that gray sedan at back camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that white sedan car at back camera. The object is moving ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the right, keep going at the same speed, and decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5948,0.5953> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, which may affect visibility. The ego vehicle is surrounded by several cars: a white sedan moving behind it, a gray sedan stationary behind it, and a gray-black sedan stationary in front. The road is clear, with trees and buildings visible in the background. The brightness may cause glare, affecting the perception of distances and object details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. H256 ABR compression. D. Sensor failure",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.6823,0.5602> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a pedestrian moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray SUV to the front left of the ego vehicle, a white truck to the front of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a white motorhome to the back of the ego vehicle, and a white SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6974,0.5889>, <c2,CAM_FRONT,0.4692,0.5064>, <c3,CAM_FRONT,0.6823,0.5602>, <c4,CAM_BACK,0.3229,0.5611>, and <c5,CAM_FRONT_RIGHT,0.3911,0.7797>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6974,0.5889> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.6974,0.5889> under bright conditions?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.6974,0.5889> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to discern details. A gray SUV is stationary to the front left, positioned at coordinates <c1,CAM_FRONT_LEFT,0.6974,0.5889>. Directly ahead, a white truck is stationary at <c2,CAM_FRONT,0.4692,0.5064>. Pedestrians are moving across the road at <c3,CAM_FRONT,0.6823,0.5602>. Behind, a white motorhome is stationary at <c4,CAM_BACK,0.3229,0.5611>. To the front right, a white SUV is stationary at <c5,CAM_FRONT_RIGHT,0.3911,0.7797>. The bright conditions may obscure some visual details, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Sensor failure. C. Bit error. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue bus to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, a pedestrian wearing a black shirt to the front of the ego vehicle, a red and white signboard to the back left of the ego vehicle, a red and blue sign to the back right of the ego vehicle, and a wide-angle lens to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5833,0.5658>, <c2,CAM_FRONT_LEFT,0.5232,0.7280>, <c3,CAM_FRONT,0.3958,0.5722>, <c4,CAM_BACK_LEFT,0.5373,0.5130>, <c5,CAM_BACK_RIGHT,0.3996,0.5488>, and <c6,CAM_FRONT_RIGHT,0.4626,0.6582>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5833,0.5658> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a blue bus moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5833,0.5658> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a blue bus, not a traffic sign or road barrier, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right, and slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5833,0.5658> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to perceive details. To the back of the ego vehicle, there is a blue bus moving ahead. On the front left, a black SUV is visible. A pedestrian wearing a black shirt is moving in front of the vehicle. To the back left, a red and white signboard is present, while a red and blue sign is located to the back right. Additionally, a wide-angle lens is positioned to the front right. The brightness affects the visibility of these objects, but their positions remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bit error. C. Bright. D. Rain",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_RIGHT,0.4938,0.7342> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black car moving ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back right of the ego vehicle, a person wearing a white shirt to the front of the ego vehicle, and a white straight left arrow to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.4938,0.7342>, <c2,CAM_FRONT,0.3391,0.5509>, and <c3,CAM_FRONT,0.4589,0.5950>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.4938,0.7342> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and brightness does not change its category.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that white straight left arrow at front camera. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly notice that person wearing a white shirt at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly notice that black car at right rear camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.4938,0.7342> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. The road is clear with a white straight left arrow visible ahead, indicating the direction. A pedestrian wearing a white shirt is stationary at the front of the ego vehicle. To the back right, a black car is moving ahead. The environment includes trees and a bus stop shelter, with the brightness causing some glare.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Bright. C. Rain. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a black car to the front of the ego vehicle, pedestrians on the roadside to the front of the ego vehicle, and road traffic signs to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.9058,0.7491>, <c2,CAM_FRONT,0.6927,0.5564>, <c3,CAM_FRONT,0.0326,0.5998>, and <c4,CAM_FRONT,0.1813,0.2148>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.9058,0.7491> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black car moving ahead, and the brightness does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.9058,0.7491> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the brightness does not change its category.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate and go ahead, brake gently to a stop, decelerate gradually without braking, slightly offset to the right, slightly offset to the left, change to the right lane, or back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.9058,0.7491> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "f98e70b9cf584ea9b8c2ef01b57b1afa",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to perceive distant objects clearly. To the front right, there is a moving black car (<c1,CAM_FRONT_RIGHT,0.9058,0.7491>). Directly ahead, another black car is moving (<c2,CAM_FRONT,0.6927,0.5564>). Pedestrians are walking on the roadside to the front (<c3,CAM_FRONT,0.0326,0.5998>). Road traffic signs are visible ahead (<c4,CAM_FRONT,0.1813,0.2148>). The brightness may cause glare, affecting visibility and requiring careful attention to these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985729177893.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Color quant. D. Sensor failure",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.2292,0.3686> under the current brightness conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving straight ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a white truck to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a black sedan to the front right of the ego vehicle, and a black SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.2292,0.3686>, <c2,CAM_BACK,0.6146,0.6417>, <c3,CAM_FRONT_RIGHT,0.5604,0.5324>, and <c4,CAM_FRONT,0.5646,0.5528>. The brightness may make these objects less visible, but they remain crucial for decision-making.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.2292,0.3686> a traffic sign or a road barrier under the current brightness conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.2292,0.3686> considering the brightness?",
    "answer": "No such action will lead to a collision, Explanation: The white truck is moving ahead, and the brightness does not affect the collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right. The brightness requires maintaining awareness of the surroundings.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by increased brightness, which may obscure some details. A white truck is moving ahead to the front left of the ego vehicle. A black sedan is positioned behind the ego vehicle, while another black sedan is stationary to the front right. Directly in front of the ego vehicle is a stationary black SUV. The brightness creates a glare on the wet road surface, making it essential to focus on the positions of these vehicles: <c1,CAM_FRONT_LEFT,0.2292,0.3686>, <c2,CAM_BACK,0.6146,0.6417>, <c3,CAM_FRONT_RIGHT,0.5604,0.5324>, and <c4,CAM_FRONT,0.5646,0.5528>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Saturate. C. Color quant. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front right of the ego vehicle, a black sedan car to the back of the ego vehicle, a black sedan to the front right of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.7854,0.7694>, <c2,CAM_BACK,0.5172,0.5833>, <c3,CAM_FRONT_RIGHT,0.0192,0.6297>, and <c4,CAM_FRONT,0.4516,0.5472>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "With the brightness affecting visibility, what is the moving status of object <c1,CAM_FRONT_RIGHT,0.7854,0.7694>? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, is <c1,CAM_FRONT_RIGHT,0.7854,0.7694> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.7854,0.7694>?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,0.7854,0.7694>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "a2e8f126913b4f72909e06d881dc5a8b",
    "frame_token": "317027e758554b18ab8e98a9a0cd3a7a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting conditions, making it challenging to discern details. To the front right, there is a silver sedan moving ahead (<c1,CAM_FRONT_RIGHT,0.7854,0.7694>). Behind the ego vehicle, a black sedan car is also moving (<c2,CAM_BACK,0.5172,0.5833>). Another black sedan is positioned to the front right (<c3,CAM_FRONT_RIGHT,0.0192,0.6297>), and a white truck is visible directly ahead (<c4,CAM_FRONT,0.4516,0.5472>). The road is lined with trees and buildings, and the brightness may obscure some road signs and markings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845355677893.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. H256 ABR compression. C. Bit error. D. Sensor failure",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.4808,0.5213> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a white truck moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the front of the ego vehicle, a white truck to the back of the ego vehicle, a right turn arrow to the front of the ego vehicle, a black traffic light to the front of the ego vehicle, and a white pillar to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3948,0.5592>, <c2,CAM_BACK,0.4808,0.5213>, <c3,CAM_FRONT,0.6970,0.6401>, <c4,CAM_FRONT,0.4754,0.4486>, and <c5,CAM_FRONT_RIGHT,0.1117,0.3769>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3948,0.5592> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3948,0.5592> under bright conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3948,0.5592> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to brake gently to a stop, the reason is to follow the traffic rules, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. A white SUV is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3948,0.5592>. Behind the ego vehicle, a white truck is moving at coordinates <c2,CAM_BACK,0.4808,0.5213>. A right turn arrow is visible on the road ahead at <c3,CAM_FRONT,0.6970,0.6401>, and a black traffic light is positioned at <c4,CAM_FRONT,0.4754,0.4486>. A white pillar is located to the front right at <c5,CAM_FRONT_RIGHT,0.1117,0.3769>. The brightness may cause glare, requiring careful attention to these elements.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Color quant. C. Bright. D. Rain",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a black van to the back of the ego vehicle, and a red SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5377,0.5278>, <c2,CAM_FRONT,0.2714,0.5917>, <c3,CAM_BACK,0.5583,0.5842>, and <c4,CAM_FRONT_LEFT,0.6823,0.6389>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.2714,0.5917> under the bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5377,0.5278> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5377,0.5278> considering the brightness?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop and change to the right lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "210add02013a4dfa84b7c5e23058781f",
    "frame_token": "74f9577414b745b0b0dcf3b241f2f0a7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to discern details. Ahead, there is a stationary white truck at coordinates <c1,CAM_FRONT,0.5377,0.5278>. A black sedan is moving ahead at <c2,CAM_FRONT,0.2714,0.5917>. Behind, a black van is moving at <c3,CAM_BACK,0.5583,0.5842>. To the front left, a red SUV is moving at <c4,CAM_FRONT_LEFT,0.6823,0.6389>. The brightness may obscure some visual cues, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621923628113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Color quant. C. JPEG compression. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the front of the ego vehicle, a gray SUV to the back right of the ego vehicle, a black sedan to the back of the ego vehicle, a white truck to the front of the ego vehicle, and a gray sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.1380,0.6037>, <c2,CAM_BACK_RIGHT,0.7531,0.7056>, <c3,CAM_BACK,0.5573,0.5870>, <c4,CAM_FRONT,0.6964,0.4991>, and <c5,CAM_BACK_LEFT,0.2594,0.6824>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.5573,0.5870> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.1380,0.6037> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.1380,0.6037> under bright conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,0.1380,0.6037>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. The road is straight with multiple lanes, and there are several vehicles around. A black sedan is positioned at the front of the ego vehicle (0.1380, 0.6037), a gray SUV is to the back right (0.7531, 0.7056), another black sedan is directly behind (0.5573, 0.5870), a white truck is also at the front (0.6964, 0.4991), and a gray sedan is to the back left (0.2594, 0.6824). Buildings line the street, and the sky appears overcast.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Bright. C. JPEG compression. D. Bit error",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a pedestrian riding a motorcycle to the back left of the ego vehicle, a black sedan to the back of the ego vehicle, a no entry to the back left of the ego vehicle, and a go straight and turn left to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.7995,0.5463>, <c2,CAM_BACK,0.6000,0.6120>, <c3,CAM_BACK_LEFT,0.7406,0.5169>, and <c4,CAM_FRONT_RIGHT,0.5033,0.6594>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_LEFT,0.7995,0.5463> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian riding a motorcycle, and it is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.7995,0.5463> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a pedestrian riding a motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,0.7995,0.5463> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed; the reason is that there is no safety issue, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,0.7995,0.5463> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "d0b2d916178a402a842c88f394d7d7e8",
    "frame_token": "f1999ab870cc478db4a5bba7787564e7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to perceive distant objects clearly. To the back left of the ego vehicle, there is a pedestrian riding a motorcycle, identified as <c1,CAM_BACK_LEFT,0.7995,0.5463>. Directly behind the vehicle, a black sedan is stationary, marked as <c2,CAM_BACK,0.6000,0.6120>. A 'no entry' sign is visible to the back left, labeled <c3,CAM_BACK_LEFT,0.7406,0.5169>. In the front right, a traffic sign indicates 'go straight and turn left', identified as <c4,CAM_FRONT_RIGHT,0.5033,0.6594>. The brightness may obscure some details, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115026027893.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Bright. C. Dark. D. Saturate",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.5239,0.5981> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a black car moving ahead, and the bright conditions do not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front left of the ego vehicle, a black car to the back of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.1766,0.6287>, <c2,CAM_BACK,0.5239,0.5981>, and <c3,CAM_FRONT_LEFT,0.6844,0.6491>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.1766,0.6287> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and bright conditions do not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that black SUV at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that black car at left camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that black car at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.1766,0.6287> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.1766,0.6287> under bright conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly but not obscuring key details. To the front left, there is a stationary black car (<c1,CAM_FRONT_LEFT,0.1766,0.6287>). Behind the ego vehicle, a black car is moving forward (<c2,CAM_BACK,0.5239,0.5981>). Another black SUV is moving to the front left (<c3,CAM_FRONT_LEFT,0.6844,0.6491>). The bright conditions highlight the buildings and parked vehicles along the street, with clear skies above.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Motion blur. C. Bright. D. Dark",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "Given the brightness, what is the moving status of object <c1,CAM_FRONT,0.9625,0.6436>? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian wearing a white shirt, moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person wearing a white shirt to the front of the ego vehicle, a white truck to the front of the ego vehicle, a person wearing a white shirt to the front of the ego vehicle, and a person wearing a skirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.9625,0.6436>, <c2,CAM_FRONT,0.5776,0.5361>, <c3,CAM_FRONT,0.4594,0.5519>, and <c4,CAM_FRONT,0.2547,0.5842>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, is <c1,CAM_FRONT,0.9625,0.6436> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a pedestrian wearing a white shirt, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.9625,0.6436>?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, brake gently to a stop, brake suddenly, slightly offset to the right, back up, or slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "c434770831e9478d8ae23aa713c0b84b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to perceive details. There are several pedestrians visible, including one wearing a white shirt at coordinates <c1,CAM_FRONT,0.9625,0.6436> and another at <c3,CAM_FRONT,0.4594,0.5519>. A stationary white truck is located at <c2,CAM_FRONT,0.5776,0.5361>. Another pedestrian wearing a skirt is at <c4,CAM_FRONT,0.2547,0.5842>. The brightness affects the visibility of these objects, but their positions remain crucial for navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884275627893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Snow. C. Sensor failure. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.4302,0.6556> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a brown SUV moving straight ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a brown SUV to the front right of the ego vehicle, a checkered shirt pedestrian to the front of the ego vehicle, a blue shirt and pedestrians to the front left of the ego vehicle, a man in a gray shirt to the front of the ego vehicle, and a grey van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.4302,0.6556>, <c2,CAM_FRONT,0.2864,0.6389>, <c3,CAM_FRONT_LEFT,0.2542,0.3694>, <c4,CAM_FRONT,0.8531,0.6287>, and <c5,CAM_FRONT,0.6099,0.5991>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.4302,0.6556> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a brown SUV, not a traffic sign or road barrier, even with the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.4302,0.6556> under bright conditions?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making visibility challenging. To the front right, there is a brown SUV moving straight ahead. In front of the ego vehicle, a pedestrian in a checkered shirt is moving, while to the front left, a group of pedestrians in blue shirts is also moving. A man in a gray shirt stands stationary in front of the vehicle. Additionally, a grey van is moving ahead. The brightness affects the clarity of these objects, but their positions remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Fog. C. Bright. D. Bit error",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5563,0.5564> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black car moving straight ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black car to the back of the ego vehicle, a green container 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_BACK,0.5563,0.5564>, <c2,CAM_FRONT,0.5547,0.5231>, and <c3,CAM_FRONT_RIGHT,0.8600,0.7254>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that green container at front camera. The object is stationary, so the ego vehicle should slightly offset to the left in maneuvering. Secondly notice that black sedan at right camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that black car at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5563,0.5564> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a moving black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5563,0.5564> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, change to the left lane, and turn left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the back of the ego vehicle, there is a moving black car (<c1,CAM_BACK,0.5563,0.5564>). In front, a green container (<c2,CAM_FRONT,0.5547,0.5231>) is stationary on the road. To the front right, a black sedan (<c3,CAM_FRONT_RIGHT,0.8600,0.7254>) is parked. The brightness makes it challenging to discern details, but the key objects are still identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. JPEG compression. C. Motion blur. D. Dark",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front of the ego vehicle, an unclear object to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a street lamp to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4137,0.6890>, <c2,CAM_FRONT,0.3552,0.5408>, <c3,CAM_FRONT,0.2026,0.5658>, and <c4,CAM_FRONT,0.1618,0.4211>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.2026,0.5658> under brightness corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black sedan that is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4137,0.6890> a traffic sign or a road barrier under brightness corruption?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4137,0.6890> under brightness corruption? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary because there is no safety issue. The probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4137,0.6890> under brightness corruption?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to distinguish details. A silver sedan is stationary in front of the ego vehicle at coordinates (0.4137, 0.6890). An unclear object is also present at (0.3552, 0.5408). A black sedan is moving ahead at (0.2026, 0.5658), and a street lamp is visible at (0.1618, 0.4211). The overall visibility is reduced, affecting perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Sensor failure. C. JPEG compression. D. Bit error",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back left of the ego vehicle, a white SUV to the front left of the ego vehicle, a white SUV to the back of the ego vehicle, a white sedan to the back right of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.2068,0.6028>, <c2,CAM_FRONT_LEFT,0.1901,0.6269>, <c3,CAM_BACK,0.2380,0.6694>, <c4,CAM_BACK_RIGHT,0.4933,0.7528>, and <c5,CAM_FRONT,0.6511,0.5917>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c5,CAM_FRONT,0.6511,0.5917> under the brightness condition? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead, and the brightness does not affect its movement status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.2068,0.6028> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a black SUV, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop or decelerate gradually without braking to ensure safety for the ego vehicle.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,0.1901,0.6269> under the brightness condition?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive details clearly. The road is illuminated by streetlights, and there are several vehicles around the ego vehicle. A black SUV is stationary to the back left, a white SUV is stationary to the front left, another white SUV is stationary to the back, a white sedan is stationary to the back right, and a silver sedan is moving ahead of the ego vehicle. The brightness causes glare, but the positions of these vehicles are clear: <c1,CAM_BACK_LEFT,0.2068,0.6028>, <c2,CAM_FRONT_LEFT,0.1901,0.6269>, <c3,CAM_BACK,0.2380,0.6694>, <c4,CAM_BACK_RIGHT,0.4933,0.7528>, and <c5,CAM_FRONT,0.6511,0.5917>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Rain. C. Bright. D. Color quant",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a brown SUV to the front left of the ego vehicle, a blue pants pedestrian to the front right of the ego vehicle, a pedestrian in black pants to the front of the ego vehicle, and a white commercial vehicle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6370,0.5797>, <c2,CAM_FRONT_RIGHT,0.6531,0.6047>, <c3,CAM_FRONT,0.5302,0.5130>, and <c4,CAM_FRONT,0.3469,0.5139>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.6531,0.6047> under the bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian in blue pants moving ahead, and the brightness does not affect this status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6370,0.5797> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a brown SUV, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, and brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.6370,0.5797> considering the brightness? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the front left, there is a stationary brown SUV (<c1,CAM_FRONT_LEFT,0.6370,0.5797>). A pedestrian in blue pants is moving to the front right (<c2,CAM_FRONT_RIGHT,0.6531,0.6047>). Directly ahead, a pedestrian in black pants is stationary (<c3,CAM_FRONT,0.5302,0.5130>), and a white commercial vehicle is moving forward (<c4,CAM_FRONT,0.3469,0.5139>). The brightness affects visibility but not the positions of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Color quant. C. Dark. D. JPEG compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4616,0.6658> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a white SUV moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back of the ego vehicle, a pedestrian wearing a black top to the front left of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4616,0.6658>, <c2,CAM_FRONT_LEFT,0.9451,0.6250>, <c3,CAM_FRONT,0.4698,0.5241>, and <c4,CAM_FRONT,0.8505,0.5574>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4616,0.6658> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop; keep going at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.4616,0.6658> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. A white SUV is moving behind the ego vehicle, located at coordinates <c1,CAM_BACK,0.4616,0.6658>. A pedestrian wearing a black top is moving to the front left, at <c2,CAM_FRONT_LEFT,0.9451,0.6250>. Two stationary white trucks are positioned in front of the ego vehicle, at <c3,CAM_FRONT,0.4698,0.5241> and <c4,CAM_FRONT,0.8505,0.5574>. The brightness affects the clarity of these objects, but their positions and statuses remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. JPEG compression. C. Bright. D. Sensor failure",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red car to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, a yellow sedan to the back left of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5931,0.7658>, <c2,CAM_FRONT,0.6386,0.5592>, <c3,CAM_BACK_LEFT,0.4156,0.7130>, and <c4,CAM_BACK,0.8932,0.6620>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.6386,0.5592> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a white sedan moving ahead, and the brightness does not affect its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.5931,0.7658> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier, and brightness does not change its identification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking and maintain the current speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5931,0.7658> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the front left, there is a stationary red car located at coordinates <c1,CAM_FRONT_LEFT,0.5931,0.7658>. Directly ahead, a white sedan is moving at coordinates <c2,CAM_FRONT,0.6386,0.5592>. Behind to the left, a yellow sedan is stationary at <c3,CAM_BACK_LEFT,0.4156,0.7130>. Finally, a black SUV is stationary at the back at <c4,CAM_BACK,0.8932,0.6620>. The brightness creates a challenge in distinguishing finer details, but the main objects are identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Zoom blur. C. Color quant. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5261,0.5463> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white van moving ahead, and the bright conditions do not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white van to the front of the ego vehicle, a pedestrian wearing black shorts to the front left of the ego vehicle, a white sedan car to the back right of the ego vehicle, a white sedan to the back of the ego vehicle, and a sitting person to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5261,0.5463>, <c2,CAM_FRONT_LEFT,0.9011,0.5787>, <c3,CAM_BACK_RIGHT,0.5039,0.7658>, <c4,CAM_BACK,0.5239,0.5741>, and <c5,CAM_FRONT,0.2417,0.5537>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5261,0.5463> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier, and the bright conditions do not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5261,0.5463> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability, even under bright conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5261,0.5463> under bright conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. A white van is moving ahead in the center of the road (<c1,CAM_FRONT,0.5261,0.5463>). To the front left, a pedestrian wearing black shorts is walking (<c2,CAM_FRONT_LEFT,0.9011,0.5787>). Behind the ego vehicle, a white sedan car is moving to the back right (<c3,CAM_BACK_RIGHT,0.5039,0.7658>) and another white sedan is directly behind (<c4,CAM_BACK,0.5239,0.5741>). A sitting person is visible to the front (<c5,CAM_FRONT,0.2417,0.5537>). The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_BACK_RIGHT__1538449267427893.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Dark. C. Bright. D. H256 ABR compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.5511,0.5908> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a moving white sedan car, and despite the brightness, it is going ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front left of the ego vehicle, a white truck to the front right of the ego vehicle, a white sedan car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a cone bucket to the front of the ego vehicle, and a white sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.7469,0.6408>, <c2,CAM_FRONT_RIGHT,0.0080,0.5111>, <c3,CAM_BACK,0.5511,0.5908>, <c4,CAM_FRONT,0.5437,0.5741>, <c5,CAM_FRONT,0.9333,0.8556>, and <c6,CAM_FRONT_RIGHT,0.7550,0.7021>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.7469,0.6408> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a stationary white sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.7469,0.6408> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to brake gently to a stop. The reason is to avoid a collision, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing some glare and reduced contrast. A white sedan is stationary to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.7469,0.6408>. A white truck is stationary to the front right at <c2,CAM_FRONT_RIGHT,0.0080,0.5111>. Behind the ego vehicle, a white sedan car is moving at <c3,CAM_BACK,0.5511,0.5908>. Directly in front, a black sedan is stationary at <c4,CAM_FRONT,0.5437,0.5741>. A cone bucket is visible at <c5,CAM_FRONT,0.9333,0.8556>, and another white sedan is stationary to the front right at <c6,CAM_FRONT_RIGHT,0.7550,0.7021>. The brightness affects visibility, making it crucial to focus on these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. H256 ABR compression. C. Bright. D. JPEG compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white commercial vehicle to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a silver sedan to the back left of the ego vehicle, a white pickup truck to the back of the ego vehicle, a black SUV to the front of the ego vehicle, and a white sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7386,0.5936>, <c2,CAM_BACK,0.7708,0.6352>, <c3,CAM_BACK_LEFT,0.3297,0.7463>, <c4,CAM_BACK,0.5120,0.5824>, <c5,CAM_FRONT,0.5505,0.5481>, and <c6,CAM_FRONT_LEFT,0.7547,0.7006>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c4,CAM_BACK,0.5120,0.5824> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a white pickup truck that is moving and turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7386,0.5936> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7386,0.5936> under brightness conditions? Why take this action and what's the probability?",
    "answer": "The action is to accelerate and go ahead. The reason is that the object has little reference value for the ego vehicle, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, slightly offset to the right, accelerate, and go ahead.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "c7ce8d0c255b48a9af8be3d77a3fc644",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive details. The ego vehicle is surrounded by several stationary vehicles: a white commercial vehicle is positioned at the front, a black sedan is at the back, and a silver sedan is to the back left. Additionally, a moving white pickup truck is located at the back, while a black SUV is at the front, and a white sedan is to the front left. The environment includes urban elements like buildings and trees, with pedestrians visible on the sidewalks.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867341528113.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bit error. C. Motion blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a pedestrian wearing a white shirt to the front left of the ego vehicle, a yellow bus to the back of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.8656,0.6611>, <c2,CAM_BACK,0.6234,0.5611>, and <c3,CAM_FRONT,0.4995,0.5186>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.8656,0.6611> under brightness corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The object is a pedestrian wearing a white shirt and is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.8656,0.6611> a traffic sign or a road barrier under brightness corruption?",
    "answer": "No, Explanation: The object is a pedestrian wearing a white shirt, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under brightness 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?",
    "answer": "Firstly, notice that pedestrian wearing a white shirt at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that silver sedan at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that yellow bus at back camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.8656,0.6611> under brightness corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.8656,0.6611> under brightness corruption?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness corruption, making visibility challenging. To the front left, there is a pedestrian wearing a white shirt, identified at coordinates <c1,CAM_FRONT_LEFT,0.8656,0.6611>. Directly in front of the ego vehicle, a silver sedan is moving, located at <c3,CAM_FRONT,0.4995,0.5186>. Behind the ego vehicle, a yellow bus is stationary at <c2,CAM_BACK,0.6234,0.5611>. The road is illuminated by streetlights, and the surrounding area includes buildings with visible lights.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Motion blur. C. Color quant. D. Bit error",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5583,0.5694> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black Jeep moving ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black Jeep to the back of the ego vehicle, a yellow construction truck to the front of the ego vehicle, a pedestrian wearing a yellow shirt to the front of the ego vehicle, and a white sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5583,0.5694>, <c2,CAM_FRONT,0.6016,0.5176>, <c3,CAM_FRONT,0.9114,0.5314>, and <c4,CAM_FRONT_LEFT,0.3567,0.7696>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5583,0.5694> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black Jeep, not a traffic sign or road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, brake gently to a stop, decelerate gradually without braking, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5583,0.5694> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the back of the ego vehicle, there is a black Jeep moving ahead. In front, a yellow construction truck is stationary, and a pedestrian wearing a yellow shirt is moving. To the front left, a white sedan is also moving. The brightness affects the clarity of these objects, but their positions remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Snow. C. Bright. D. JPEG compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5583,0.5519> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a black car moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black car to the back of the ego vehicle, a white business to the front of the ego vehicle, a silver gray sedan to the front right of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5583,0.5519>, <c2,CAM_FRONT,0.8927,0.5861>, <c3,CAM_FRONT_RIGHT,0.3469,0.7741>, and <c4,CAM_FRONT_LEFT,0.6308,0.6037>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5583,0.5519> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5583,0.5519> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the back of the ego vehicle, there is a moving black car (<c1,CAM_BACK,0.5583,0.5519>). In front, a white business is stationary (<c2,CAM_FRONT,0.8927,0.5861>). A silver gray sedan is stationary to the front right (<c3,CAM_FRONT_RIGHT,0.3469,0.7741>), and a black SUV is stationary to the front left (<c4,CAM_FRONT_LEFT,0.6308,0.6037>). The road is wet, and the brightness causes glare, impacting the clarity of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Color quant. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "Considering the brightness corruption, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black small car to the front of the ego vehicle, a white small car to the front of the ego vehicle, an indistinguishable object to the back of the ego vehicle, and a black small car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3609,0.5528>, <c2,CAM_FRONT,0.4458,0.5398>, <c3,CAM_BACK,0.6011,0.5741>, and <c4,CAM_FRONT,0.2354,0.5092>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3609,0.5528> under brightness corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black small car moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "Under brightness corruption, is <c1,CAM_FRONT,0.3609,0.5528> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "Considering brightness corruption, what actions could the ego vehicle take based on <c1,CAM_FRONT,0.3609,0.5528>? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "Under brightness corruption, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3609,0.5528>?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to distinguish objects clearly. Ahead, there are two small cars, one black and one white, moving in front of the ego vehicle. The black car is positioned at <c1,CAM_FRONT,0.3609,0.5528> and the white car at <c2,CAM_FRONT,0.4458,0.5398>. Behind the ego vehicle, there is an indistinguishable object at <c3,CAM_BACK,0.6011,0.5741>. Another black small car is also moving in front at <c4,CAM_FRONT,0.2354,0.5092>. The brightness affects the visibility of road signs and other elements, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. JPEG compression. C. Bright. D. Bit error",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_LEFT,0.7886,0.6667> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The pedestrian with a yellow hat is moving straight ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is an orange and white traffic cone to the front of the ego vehicle, a pedestrian with a yellow hat to the front left of the ego vehicle, a silver sedan to the back right of the ego vehicle, a brown sedan to the back of the ego vehicle, a silver business car to the back left of the ego vehicle, and a white landmark line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4891,0.9262>, <c2,CAM_FRONT_LEFT,0.7886,0.6667>, <c3,CAM_BACK_RIGHT,0.5156,0.7602>, <c4,CAM_BACK,0.5062,0.6648>, <c5,CAM_BACK_LEFT,0.2526,0.6426>, and <c6,CAM_FRONT,0.6107,0.9260>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4891,0.9262> a traffic sign or a road barrier under bright conditions?",
    "answer": "Yes, Explanation: The object is an orange and white traffic cone, which acts as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,0.7886,0.6667> under bright conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. In front of the ego vehicle, there is an orange and white traffic cone (<c1,CAM_FRONT,0.4891,0.9262>) and a white landmark line (<c6,CAM_FRONT,0.6107,0.9260>). To the front left, a pedestrian wearing a yellow hat is moving (<c2,CAM_FRONT_LEFT,0.7886,0.6667>). Behind the ego vehicle, there is a stationary silver sedan (<c3,CAM_BACK_RIGHT,0.5156,0.7602>) and a brown sedan (<c4,CAM_BACK,0.5062,0.6648>). To the back left, a silver business car is parked (<c5,CAM_BACK_LEFT,0.2526,0.6426>). The bright conditions may affect the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Sensor failure. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4849,0.5944> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the back of the ego vehicle, a pedestrian to the front left of the ego vehicle, and a straight, left turn, right turn to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4849,0.5944>, <c2,CAM_FRONT_LEFT,0.9386,0.7176>, and <c3,CAM_FRONT,0.6144,0.6750>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that pedestrian at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that straight, left turn, right turn at front camera. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that silver sedan at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4849,0.5944> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4849,0.5944> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. A silver sedan is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.4849,0.5944>. A pedestrian is moving to the front left, located at <c2,CAM_FRONT_LEFT,0.9386,0.7176>. Traffic elements indicating straight, left turn, and right turn are visible at the front, positioned at <c3,CAM_FRONT,0.6144,0.6750>. The brightness may affect the perception of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Dark. C. Sensor failure. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c4,CAM_FRONT,0.3433,0.6611> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The object is a person wearing a white shirt, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red traffic cone to the front of the ego vehicle, a white van to the front right of the ego vehicle, a white sedan to the front right of the ego vehicle, a person wearing a white shirt to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.1906,0.7676>, <c2,CAM_FRONT_RIGHT,0.6922,0.5509>, <c3,CAM_FRONT_RIGHT,0.3000,0.5963>, <c4,CAM_FRONT,0.3433,0.6611>, and <c5,CAM_FRONT,0.9852,0.2991>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.1906,0.7676> a traffic sign or a road barrier under bright conditions?",
    "answer": "Yes, Explanation: The object is a red traffic cone, which acts as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c2,CAM_FRONT_RIGHT,0.6922,0.5509> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn right. The reason is to follow the traffic rules, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,0.6922,0.5509> under bright conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the front, there is a red traffic cone at coordinates (0.1906, 0.7676), indicating a road barrier. A white van is stationary at the front right, located at (0.6922, 0.5509), and a white sedan is also stationary nearby at (0.3000, 0.5963). A person wearing a white shirt is moving ahead at (0.3433, 0.6611). Additionally, a red light is visible at (0.9852, 0.2991), signaling a stop.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Snow. C. Bright. D. JPEG compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue car to the back of the ego vehicle, a pedestrian wearing a white shirt to the front left of the ego vehicle, and a brown sedan car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8109,0.6741>, <c2,CAM_FRONT_LEFT,0.5739,0.6361>, and <c3,CAM_FRONT_RIGHT,0.4328,0.7398>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_LEFT,0.5739,0.6361> under the bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The pedestrian wearing a white shirt is moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice pedestrian wearing a white shirt at left camera. It is going ahead, so the ego vehicle should slow down and proceed. Secondly notice brown sedan car at right camera. It is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly notice blue car at back camera. It is stationary, so the ego vehicle should slow down and proceed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8109,0.6741> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate and go ahead, slightly offset to the left, slightly offset to the right, change to the left lane, or change to the right lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8109,0.6741> under bright conditions?",
    "answer": "Change to the left lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. The environment includes a street lined with buildings and trees. There is a blue car stationary at the back of the ego vehicle, located at coordinates <c1,CAM_BACK,0.8109,0.6741>. A pedestrian wearing a white shirt is moving ahead to the front left of the ego vehicle, positioned at <c2,CAM_FRONT_LEFT,0.5739,0.6361>. Additionally, a brown sedan car is stationary to the front right of the ego vehicle, found at <c3,CAM_FRONT_RIGHT,0.4328,0.7398>. The brightness impacts the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. H256 ABR compression. C. Color quant. D. Motion blur",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver car to the back right of the ego vehicle, a black SUV to the back of the ego vehicle, a silver sedan to the front right of the ego vehicle, a black car to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.4146,0.7509>, <c2,CAM_BACK,0.3646,0.5833>, <c3,CAM_FRONT_RIGHT,0.2453,0.5963>, <c4,CAM_FRONT_LEFT,0.4609,0.5676>, and <c5,CAM_FRONT,0.6440,0.2957>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_RIGHT,0.4146,0.7509> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a silver car moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.4146,0.7509> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a moving vehicle, specifically a silver car.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,0.4146,0.7509> considering the brightness?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.4146,0.7509> in bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which has a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to discern details. To the back right of the ego vehicle, there is a moving silver car (<c1,CAM_BACK_RIGHT,0.4146,0.7509>). Behind the ego vehicle, a black SUV is also moving (<c2,CAM_BACK,0.3646,0.5833>). To the front right, a silver sedan is stationary (<c3,CAM_FRONT_RIGHT,0.2453,0.5963>), while a black car is stationary to the front left (<c4,CAM_FRONT_LEFT,0.4609,0.5676>). Directly in front, a green light is visible (<c5,CAM_FRONT,0.6440,0.2957>), indicating that the ego vehicle can proceed.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Dark. C. Motion blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the back right of the ego vehicle, a gray SUV to the front right of the ego vehicle, a gray SUV to the front left of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.8094,0.7398>, <c2,CAM_FRONT_RIGHT,0.3442,0.5444>, <c3,CAM_FRONT_LEFT,0.4995,0.5658>, and <c4,CAM_FRONT,0.6901,0.4074>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.3442,0.5444> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a gray SUV moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.8094,0.7398> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,0.3442,0.5444> considering the bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. A white truck is moving in front of the ego vehicle at coordinates <c4,CAM_FRONT,0.6901,0.4074>. To the front right, a gray SUV is moving at <c2,CAM_FRONT_RIGHT,0.3442,0.5444>, and another gray SUV is moving to the front left at <c3,CAM_FRONT_LEFT,0.4995,0.5658>. A stationary silver sedan is located at the back right of the ego vehicle at <c1,CAM_BACK_RIGHT,0.8094,0.7398>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Color quant. C. H256 ABR compression. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_LEFT,0.8942,0.5908> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is pedestrians crossing the road, moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a motorcycle to the front left of the ego vehicle, pedestrians crossing the road to the front left of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5917,0.6009>, <c2,CAM_FRONT_LEFT,0.8942,0.5908>, and <c3,CAM_BACK,0.4309,0.6047>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice pedestrians crossing the road at left camera. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice black sedan at back camera. It is turning right, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice motorcycle at left camera. It is stationary, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.5917,0.6009> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a stationary motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5917,0.6009> under bright conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5917,0.6009> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, which may cause some glare and affect visibility. To the front left, there is a stationary motorcycle positioned at coordinates <c1,CAM_FRONT_LEFT,0.5917,0.6009>. Pedestrians are crossing the road at coordinates <c2,CAM_FRONT_LEFT,0.8942,0.5908>, moving ahead. Behind the ego vehicle, a black sedan is moving, located at <c3,CAM_BACK,0.4309,0.6047>. The environment includes trees and buildings, with the road appearing clear despite the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Zoom blur. D. JPEG compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.5443,0.5639> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a gray car moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black small car to the front of the ego vehicle, a gray car to the back of the ego vehicle, and a yellow traffic sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3401,0.5611>, <c2,CAM_BACK,0.5443,0.5639>, and <c3,CAM_FRONT,0.5927,0.5224>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice yellow traffic sign at front camera. The object is a traffic sign, so the ego vehicle should slow down and continue ahead. Secondly, notice black small car at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice gray car at back camera. The object is moving ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3401,0.5611> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3401,0.5611> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, making visibility challenging. The road is straight with a clear path ahead. A black small car is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3401,0.5611>. A gray car is moving behind the ego vehicle at coordinates <c2,CAM_BACK,0.5443,0.5639>. A yellow traffic sign is visible ahead at coordinates <c3,CAM_FRONT,0.5927,0.5224>. The surroundings include buildings and trees, with the road appearing clear and unobstructed.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Zoom blur. C. Bright. D. Motion blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black business car to the front left of the ego vehicle, a silver-gray sedan to the back of the ego vehicle, and a yellow sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.8286,0.5852>, <c2,CAM_BACK,0.5401,0.5574>, and <c3,CAM_FRONT,0.6292,0.4913>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.5401,0.5574> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a silver-gray sedan moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.8286,0.5852> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black business car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice yellow sign at front camera. The object is a traffic sign and the ego vehicle should continue ahead at the same speed. Secondly, notice black business car at left camera. The object is stationary and the ego vehicle should continue ahead at the same speed. Thirdly, notice silver-gray sedan at back camera. The object is moving ahead and the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.8286,0.5852> under bright conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing some glare and potential difficulty in distinguishing objects. To the front left, there is a stationary black business car (<c1,CAM_FRONT_LEFT,0.8286,0.5852>). Behind the ego vehicle, a silver-gray sedan is moving ahead (<c2,CAM_BACK,0.5401,0.5574>). Directly in front, there is a yellow traffic sign (<c3,CAM_FRONT,0.6292,0.4913>). The road is clear, and visibility is generally good despite the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. JPEG compression. C. Bright. D. Snow",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person wearing a white shirt to the front of the ego vehicle, a white car to the back left of the ego vehicle, a white car to the front right of the ego vehicle, a person wearing a red shirt to the front of the ego vehicle, and a yellow traffic sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6370,0.5898>, <c2,CAM_BACK_LEFT,0.7391,0.5528>, <c3,CAM_FRONT_RIGHT,0.4422,0.5564>, <c4,CAM_FRONT,0.5516,0.5908>, and <c5,CAM_BACK_RIGHT,0.4523,0.5026>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK_LEFT,0.7391,0.5528> under brightness conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white car that is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.6370,0.5898> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a pedestrian wearing a white shirt, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking, are safe actions to take for the ego vehicle in this scenario.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6370,0.5898> under brightness conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive details clearly. To the front of the ego vehicle, there is a stationary pedestrian wearing a white shirt at coordinates <c1,CAM_FRONT,0.6370,0.5898>. A moving white car is located to the back left at <c2,CAM_BACK_LEFT,0.7391,0.5528>, and another moving white car is to the front right at <c3,CAM_FRONT_RIGHT,0.4422,0.5564>. Additionally, a stationary pedestrian wearing a red shirt is positioned at <c4,CAM_FRONT,0.5516,0.5908>. A yellow traffic sign is visible to the back right at <c5,CAM_BACK_RIGHT,0.4523,0.5026>. The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Bright. C. Bit error. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a pedestrian wearing black pants to the back right of the ego vehicle, a silver SUV to the back of the ego vehicle, a black sedan to the front left of the ego vehicle, a pedestrian wearing a white shirt to the front of the ego vehicle, a black car to the front of the ego vehicle, and a pedestrian with an orange shirt to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.1755,0.6472>, <c2,CAM_BACK,0.5036,0.6186>, <c3,CAM_FRONT_LEFT,0.4573,0.6908>, <c4,CAM_FRONT,0.8854,0.5953>, <c5,CAM_FRONT,0.4683,0.5602>, and <c6,CAM_FRONT_RIGHT,0.2005,0.6417>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_RIGHT,0.1755,0.6472> under brightness conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian wearing black pants and is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.1755,0.6472> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a pedestrian wearing black pants, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, and decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,0.1755,0.6472> under brightness conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive distant objects clearly. A pedestrian wearing black pants is moving to the back right of the ego vehicle. A silver SUV is stationary behind the ego vehicle. To the front left, a black sedan is moving, while directly in front, a pedestrian wearing a white shirt is stationary. A black car is also moving in front, and a pedestrian with an orange shirt is stationary to the front right. The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bit error. C. Bright. D. Dark",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a dark green truck to the back of the ego vehicle, a pedestrian to the back left of the ego vehicle, a white truck to the front of the ego vehicle, and a sanitation worker to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7177,0.5806>, <c2,CAM_BACK_LEFT,0.5031,0.5694>, <c3,CAM_FRONT,0.7052,0.4917>, and <c4,CAM_FRONT,0.2620,0.5426>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK_LEFT,0.5031,0.5694> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.7177,0.5806> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a dark green truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7177,0.5806> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "d4c5db6faa9f443795ad86561e9e556e",
    "frame_token": "6e06cb03afab4d1eb30b3e0d8eb4d19e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the back of the ego vehicle, there is a stationary dark green truck (<c1,CAM_BACK,0.7177,0.5806>). To the back left, a pedestrian is moving (<c2,CAM_BACK_LEFT,0.5031,0.5694>). In front of the vehicle, a white truck is stationary (<c3,CAM_FRONT,0.7052,0.4917>), and a sanitation worker is standing still (<c4,CAM_FRONT,0.2620,0.5426>). The environment includes wet roads and construction barriers, adding to the complexity of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293297778113.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Fog. C. Rain. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5792,0.6213> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a blue and white car moving straight ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a blue and white car to the front of the ego vehicle, a blue truck to the back of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, a pedestrian holding a black umbrella to the front left of the ego vehicle, a traffic light with green light on to the front of the ego vehicle, and a traffic light with green light on to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5792,0.6213>, <c2,CAM_BACK,0.4125,0.5231>, <c3,CAM_FRONT_RIGHT,0.4349,0.7661>, <c4,CAM_FRONT_LEFT,0.6239,0.5991>, <c5,CAM_FRONT,0.6933,0.4310>, and <c6,CAM_FRONT,0.4500,0.4412>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5792,0.6213> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a blue and white car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5792,0.6213> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5792,0.6213> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A blue and white car is moving ahead in front of the ego vehicle. Behind, a blue truck is also in motion. To the front right, a white commercial vehicle is visible. On the front left, a pedestrian holding a black umbrella is walking. Two traffic lights with green lights are positioned in front of the ego vehicle, indicating it can proceed. The brightness may cause glare, impacting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Snow. C. Dark. D. Sensor failure",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a white 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,0.5031,0.5310>, <c2,CAM_BACK,0.6828,0.6648>, <c3,CAM_FRONT,0.2297,0.5658>, <c4,CAM_FRONT,0.5552,0.5491>, and <c5,CAM_FRONT,0.6502,0.4530>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5031,0.5310> under the bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a white SUV moving straight ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5031,0.5310> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5031,0.5310> considering the brightness?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. Ahead, a white SUV is moving forward, positioned at coordinates <c1,CAM_FRONT,0.5031,0.5310>. Behind the ego vehicle, a black sedan is also in motion, located at <c2,CAM_BACK,0.6828,0.6648>. Another white sedan is visible in front, at <c3,CAM_FRONT,0.2297,0.5658>. Additionally, a green traffic light is present at <c5,CAM_FRONT,0.6502,0.4530>, indicating that the vehicles can proceed. The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Fog. C. Sensor failure. D. JPEG compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a person on the roadside to the back left of the ego vehicle, a white sedan to the front of the ego vehicle, a walking person to the back right of the ego vehicle, and a white sedan car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2116,0.6054>, <c2,CAM_FRONT,0.9323,0.5519>, <c3,CAM_BACK_LEFT,0.1739,0.5547>, <c4,CAM_FRONT,0.6167,0.5417>, <c5,CAM_BACK_RIGHT,0.5114,0.6898>, and <c6,CAM_BACK,0.4599,0.5630>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.2116,0.6054> under brightness conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black car moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2116,0.6054> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2116,0.6054> under brightness conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2116,0.6054> under brightness conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "3bc4553925494890a21ef7a15c40eaed",
    "frame_token": "48251ce758f444dcab723167fa8db055",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced contrast. A black car is moving ahead at coordinates <c1,CAM_FRONT,0.2116,0.6054>. A white sedan is also moving ahead at <c2,CAM_FRONT,0.9323,0.5519>. On the roadside to the back left, a person is stationary at <c3,CAM_BACK_LEFT,0.1739,0.5547>. Another white sedan is moving at <c4,CAM_FRONT,0.6167,0.5417>. A walking person is at the back right at <c5,CAM_BACK_RIGHT,0.5114,0.6898>. Finally, a white sedan car is moving at the back at <c6,CAM_BACK,0.4599,0.5630>. The brightness affects visibility but does not obscure the identification of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729251628113.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. H256 ABR compression. D. Fog",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person on the side of the road to the front of the ego vehicle, people walking on the roadside to the front of the ego vehicle, and an orange car to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0469,0.6453>, <c2,CAM_FRONT,0.4771,0.5639>, and <c3,CAM_BACK_RIGHT,0.6886,0.6703>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.0469,0.6453> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a person on the side of the road, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice person on the side of the road at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice people walking on the roadside at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice orange car at right rear camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.0469,0.6453> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a person on the side of the road, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.0469,0.6453> under bright conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the front of the ego vehicle, there is a person on the side of the road (coordinates: <c1,CAM_FRONT,0.0469,0.6453>) and people walking on the roadside (coordinates: <c2,CAM_FRONT,0.4771,0.5639>). An orange car is moving to the back right of the ego vehicle (coordinates: <c3,CAM_BACK_RIGHT,0.6886,0.6703>). The road is clear, but the brightness may affect visibility of road signs and barriers.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. Fog. D. Rain",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front of the ego vehicle, a person riding a bicycle to the front of the ego vehicle, a person wearing a pink shirt and black pants to the front of the ego vehicle, a white SUV to the front right of the ego vehicle, a black sedan to the back right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6604,0.6314>, <c2,CAM_FRONT,0.2052,0.6092>, <c3,CAM_FRONT,0.0203,0.5991>, <c4,CAM_FRONT_RIGHT,0.4313,0.6758>, <c5,CAM_BACK_RIGHT,0.2409,0.7426>, and <c6,CAM_BACK,0.1351,0.6314>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.6604,0.6314> under the bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a black car moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.6604,0.6314> a traffic sign or a road barrier in the bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6604,0.6314> considering the brightness?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6604,0.6314> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. A black car is moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.6604,0.6314>. A person is riding a bicycle to the front at <c2,CAM_FRONT,0.2052,0.6092>, and another pedestrian is visible at <c3,CAM_FRONT,0.0203,0.5991>. A stationary white SUV is located to the front right at <c4,CAM_FRONT_RIGHT,0.4313,0.6758>. Behind the ego vehicle, a black sedan is moving at <c5,CAM_BACK_RIGHT,0.2409,0.7426> and another at <c6,CAM_BACK,0.1351,0.6314>. The brightness may cause glare, but key objects are still identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Color quant. C. Bright. D. Saturate",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the front of the ego vehicle, a pedestrian to the front of the ego vehicle, a gray commercial van to the back of the ego vehicle, a blue SUV to the back left of the ego vehicle, and a bicycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7067,0.5611>, <c2,CAM_FRONT,0.9521,0.5703>, <c3,CAM_BACK,0.5417,0.5509>, <c4,CAM_BACK_LEFT,0.8264,0.6769>, and <c5,CAM_FRONT,0.8067,0.6009>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.9521,0.5703> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a pedestrian moving ahead, and the brightness does not affect this status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7067,0.5611> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a white sedan car, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7067,0.5611> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to perceive distant objects clearly. To the front of the ego vehicle, there is a white sedan car and a pedestrian, both visible despite the brightness. Behind the ego vehicle, a gray commercial van is moving, while a blue SUV is stationary to the back left. A bicycle is also stationary to the front. The brightness affects the overall visibility, but key objects remain identifiable at coordinates <c1,CAM_FRONT,0.7067,0.5611>, <c2,CAM_FRONT,0.9521,0.5703>, <c3,CAM_BACK,0.5417,0.5509>, <c4,CAM_BACK_LEFT,0.8264,0.6769>, and <c5,CAM_FRONT,0.8067,0.6009>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Sensor failure. C. Motion blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is an orange and white truck to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, and a blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1626,0.5338>, <c2,CAM_FRONT,0.6261,0.4814>, <c3,CAM_BACK,0.1552,0.5213>, and <c4,CAM_FRONT,0.1198,0.5676>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.1552,0.5213> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a blue sedan, and it is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.1626,0.5338> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is an orange and white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.1626,0.5338> considering the brightness?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.1626,0.5338> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "75a4ec12042542149b0a77a0a10d6330",
    "frame_token": "7193cc6bcc5b4196abebcb32500ffe62",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. An orange and white truck is stationary to the front right of the ego vehicle, located at coordinates <c1,CAM_FRONT_RIGHT,0.1626,0.5338>. A white truck is directly in front, at <c2,CAM_FRONT,0.6261,0.4814>. Behind the ego vehicle, a blue sedan is moving, positioned at <c3,CAM_BACK,0.1552,0.5213>. Another blue sedan is stationary in front at <c4,CAM_FRONT,0.1198,0.5676>. The brightness affects visibility, requiring careful attention to these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915328027813.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. Rain. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a yellow traffic markings to the back of the ego vehicle, and a white road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4547,0.5592>, <c2,CAM_BACK,0.4396,0.6398>, and <c3,CAM_FRONT,0.7559,0.6411>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4547,0.5592> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white truck moving straight ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when approaching the next location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when approaching the next 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?",
    "answer": "Firstly, notice white road sign at front camera. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice yellow traffic markings at back camera. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice white truck at back camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4547,0.5592> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4547,0.5592> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.4547,0.5592> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "4b5bf3f4668d44fea9a676e9c4a8a79e",
    "frame_token": "bfcb6df9474f4ad98fcf64ff2d1e170c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is affected by high brightness, making it challenging to perceive details. To the back of the ego vehicle, there is a white truck moving straight ahead, identified as <c1,CAM_BACK,0.4547,0.5592>. Yellow traffic markings are also visible at the back, marked as <c2,CAM_BACK,0.4396,0.6398>. In front of the ego vehicle, a white road sign is present, identified as <c3,CAM_FRONT,0.7559,0.6411>. The road is lined with trees, and the brightness causes some glare, affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034004277893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Dark. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.3234,0.4981> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a white truck moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white commercial vehicle to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and a yellow bike to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.3812,0.5722>, <c2,CAM_FRONT,0.3234,0.4981>, and <c3,CAM_BACK,0.6567,0.6028>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that white commercial vehicle at right camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that white truck at front camera. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that yellow bike at back camera. The object is stationary, so the ego vehicle should continue going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.3812,0.5722> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.3812,0.5722> under bright conditions?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.3812,0.5722> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing some glare and reduced contrast in the images. A white commercial vehicle is stationary to the front right of the ego vehicle, located at coordinates <c1,CAM_FRONT_RIGHT,0.3812,0.5722>. Directly ahead, a white truck is moving forward, positioned at <c2,CAM_FRONT,0.3234,0.4981>. Behind the ego vehicle, a yellow bike is stationary at <c3,CAM_BACK,0.6567,0.6028>. The bright conditions may affect the visibility of these objects slightly, but they remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Dark. C. Bit error. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4646,0.6814> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a white commercial vehicle moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white commercial vehicle to the front of the ego vehicle, a dark gray van to the back of the ego vehicle, a pedestrian wearing a light purple shirt to the front left of the ego vehicle, and a dark blue SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4646,0.6814>, <c2,CAM_BACK,0.4370,0.5611>, <c3,CAM_FRONT_LEFT,0.5380,0.6759>, and <c4,CAM_FRONT_LEFT,0.6276,0.5602>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4646,0.6814> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4646,0.6814> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is to maintain a safe distance, which is highly probable.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, making it challenging to discern details. A white commercial vehicle is moving to the right in front of the ego vehicle. A dark gray van is stationary behind the ego vehicle. To the front left, a pedestrian wearing a light purple shirt is moving, and a dark blue SUV is stationary. The scene includes buildings and trees lining the road, with a noticeable brightness affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Color quant. C. Bright. D. Bit error",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a pedestrian wearing white shorts to the front left of the ego vehicle, an orange bus to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, and a blue sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6279,0.5731>, <c2,CAM_FRONT,0.0936,0.4960>, <c3,CAM_BACK,0.4422,0.6213>, and <c4,CAM_FRONT_RIGHT,0.1160,0.5806>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.6279,0.5731> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a pedestrian wearing white shorts, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6279,0.5731> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.6279,0.5731> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the front left, there is a pedestrian wearing white shorts, moving along the sidewalk. Directly ahead, an orange bus is stationary, while a blue sedan is moving behind the ego vehicle. Another blue sedan is stationary to the front right. The environment includes a mix of vehicles and pedestrians, with trees and buildings in the background.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Bright. C. Dark. D. Motion blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a pedestrian in red clothes to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a red car to the front of the ego vehicle, and a white sedan car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7364,0.5908>, <c2,CAM_BACK,0.2099,0.6139>, <c3,CAM_FRONT,0.3333,0.6444>, <c4,CAM_FRONT,0.9448,0.6120>, and <c5,CAM_FRONT_LEFT,0.4609,0.6028>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.7364,0.5908> under brightness distortion? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a pedestrian moving ahead, and the brightness distortion does not affect this status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7364,0.5908> a traffic sign or a road barrier under brightness distortion?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, and brightness distortion does not change this classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness distortion, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7364,0.5908> under brightness distortion? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "4ce5f2215acf45cdbed99d72e4c2dd3b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness distortion, making it challenging to perceive details clearly. There is a pedestrian in red clothes moving in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.7364,0.5908>. A white sedan is moving behind the ego vehicle at <c2,CAM_BACK,0.2099,0.6139>, and another white sedan is in front at <c3,CAM_FRONT,0.3333,0.6444>. A red car is also in front at <c4,CAM_FRONT,0.9448,0.6120>, and a white sedan car is to the front left at <c5,CAM_FRONT_LEFT,0.4609,0.6028>. The overall visibility is reduced, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193307527893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Saturate. C. Rain. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.6703,0.4981> under brightness distortion? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a black SUV moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front left of the ego vehicle, a black SUV to the front right of the ego vehicle, an unclear object to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6000,0.6750>, <c2,CAM_FRONT_RIGHT,0.6703,0.4981>, <c3,CAM_BACK,0.4547,0.5936>, <c4,CAM_FRONT,0.3667,0.6398>, and <c5,CAM_FRONT,0.5745,0.6269>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6000,0.6750> a traffic sign or a road barrier under brightness distortion?",
    "answer": "No, Explanation: The object is a stationary black car.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.6000,0.6750> under brightness distortion?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness distortion, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness distortion, making it challenging to perceive details. To the front left, there is a stationary black car. A black SUV is moving to the front right. An unclear object is positioned at the back. In front of the ego vehicle, there is a moving white sedan and a red car. The environment includes trees and road signs, which are less visible due to the distortion.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Bright. C. JPEG compression. D. Saturate",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, a blue truck to the back of the ego vehicle, a blue car to the back left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5323,0.5222>, <c2,CAM_BACK,0.6536,0.5722>, <c3,CAM_BACK_LEFT,0.4219,0.7500>, and <c4,CAM_FRONT,0.5039,0.4546>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5323,0.5222> under the brightness condition? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5323,0.5222> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5323,0.5222> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive distant objects clearly. A white truck is moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.5323,0.5222>. Behind the ego vehicle, a blue truck is moving at <c2,CAM_BACK,0.6536,0.5722>. To the back left, a blue car is moving at <c3,CAM_BACK_LEFT,0.4219,0.7500>. A green light is visible at <c4,CAM_FRONT,0.5039,0.4546>. The road appears wet, indicating possible rain, and buildings line the street.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. Sensor failure. D. Color quant",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.8036,0.6963>, <c2,CAM_FRONT,0.4401,0.5574>, and <c3,CAM_FRONT,0.5614,0.5472>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.8036,0.6963> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice silver sedan at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice black sedan at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice white sedan at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.8036,0.6963> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.8036,0.6963> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,0.5614,0.5472> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. The road is wet, indicating recent rain, and there is a bridge structure visible. A silver sedan is moving to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.8036,0.6963>. Directly ahead, a black sedan is moving at coordinates <c2,CAM_FRONT,0.4401,0.5574>, and a white sedan is also moving ahead at coordinates <c3,CAM_FRONT,0.5614,0.5472>. The surrounding buildings are partially obscured by the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. Color quant. D. JPEG compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red car to the front of the ego vehicle, a blue and white commercial vehicle to the front of the ego vehicle, a black pickup truck to the front of the ego vehicle, a white truck 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,0.8292,0.5250>, <c2,CAM_FRONT,0.1042,0.6347>, <c3,CAM_FRONT,0.4748,0.5524>, <c4,CAM_FRONT,0.3286,0.5130>, and <c5,CAM_FRONT,0.6604,0.3031>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.8292,0.5250> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a red car moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.8292,0.5250> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.8292,0.5250> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, even with the brightness. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,0.4748,0.5524> considering the brightness?",
    "answer": "Accelerating and going straight can lead to a collision with <c3,CAM_FRONT,0.4748,0.5524>, even under bright conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing some glare and reduced visibility. The road is wet, reflecting the light, which can be challenging for perception. Key objects include a red car at coordinates <c1,CAM_FRONT,0.8292,0.5250>, a blue and white commercial vehicle at <c2,CAM_FRONT,0.1042,0.6347>, a black pickup truck at <c3,CAM_FRONT,0.4748,0.5524>, and a white truck at <c4,CAM_FRONT,0.3286,0.5130>. A green light is visible at <c5,CAM_FRONT,0.6604,0.3031>, indicating that the ego vehicle can proceed.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. Zoom blur. D. Rain",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the front right of the ego vehicle, a motorcycle to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, a white sedan to the back of the ego vehicle, and a motorcycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.7146,0.5602>, <c2,CAM_FRONT,0.6989,0.6028>, <c3,CAM_BACK,0.4177,0.6019>, <c4,CAM_BACK,0.5261,0.5861>, and <c5,CAM_FRONT,0.8724,0.7047>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.4177,0.6019> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.7146,0.5602> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, and brightness does not change its identification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.7146,0.5602> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is bright, causing some glare and potential difficulty in distinguishing objects at a distance. To the front right, there is a stationary black sedan (<c1,CAM_FRONT_RIGHT,0.7146,0.5602>). Directly in front, there are two stationary motorcycles (<c2,CAM_FRONT,0.6989,0.6028> and <c5,CAM_FRONT,0.8724,0.7047>). Behind the ego vehicle, a silver sedan (<c3,CAM_BACK,0.4177,0.6019>) and a white sedan (<c4,CAM_BACK,0.5261,0.5861>) are moving. The brightness affects the overall visibility but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Dark. D. Zoom blur",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3839,0.5481> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black SUV moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front of the ego vehicle, a black car to the back of the ego vehicle, a black car to the front left of the ego vehicle, a black sedan to the back right of the ego vehicle, a black car to the front right of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3839,0.5481>, <c2,CAM_BACK,0.5683,0.6991>, <c3,CAM_FRONT_LEFT,0.9839,0.5852>, <c4,CAM_BACK_RIGHT,0.8155,0.7657>, <c5,CAM_FRONT_RIGHT,0.3433,0.5731>, and <c6,CAM_FRONT,0.5669,0.3339>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3839,0.5481> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT_LEFT,0.9839,0.5852> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A black SUV is moving ahead in the front view, positioned at coordinates (0.3839, 0.5481). Behind the ego vehicle, a stationary black car is visible at coordinates (0.5683, 0.6991). To the front left, a moving black car is at coordinates (0.9839, 0.5852), while a stationary black sedan is located to the back right at coordinates (0.8155, 0.7657). Another moving black car is to the front right at coordinates (0.3433, 0.5731). A red light is visible in the front view at coordinates (0.5669, 0.3339).",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Fog. C. Rain. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray car to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a red car to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a white truck to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.4151,0.5703>, <c2,CAM_FRONT,0.7714,0.4908>, <c3,CAM_FRONT,0.8896,0.5870>, <c4,CAM_BACK,0.2874,0.5519>, and <c5,CAM_FRONT_LEFT,0.4239,0.4528>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c4,CAM_BACK,0.2874,0.5519> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a white truck moving ahead, and the brightness does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.4151,0.5703> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a gray car, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.4151,0.5703> considering the brightness?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive distant objects clearly. A gray car is stationary to the front right of the ego vehicle, positioned at coordinates <0.4151, 0.5703>. A white truck is stationary directly in front, located at <0.7714, 0.4908>, and a red car is also stationary in front at <0.8896, 0.5870>. Behind the ego vehicle, a white truck is moving, positioned at <0.2874, 0.5519>. Another white truck is moving to the front left, located at <0.4239, 0.4528>. The brightness affects the visibility of these objects, but their positions remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Saturate. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5511,0.5314> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a white truck moving ahead, and the bright conditions do not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a silver sedan to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5511,0.5314>, <c2,CAM_BACK,0.3036,0.6352>, and <c3,CAM_FRONT,0.5440,0.5407>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that silver sedan at back camera. The object is stationary, so the ego vehicle should continue moving forward at the same speed. Secondly, notice that white truck at back camera. The object is moving forward, so the ego vehicle should continue moving forward at the same speed. Thirdly, notice that white sedan at front camera. The object is stationary, so the ego vehicle should continue moving forward at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5511,0.5314> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the bright conditions do not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5511,0.5314> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5511,0.5314> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, causing glare and reduced visibility. The road is wet, indicating recent rain, with reflections visible on the surface. A white truck is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.5511,0.5314>. A silver sedan is stationary behind the ego vehicle at coordinates <c2,CAM_BACK,0.3036,0.6352>. In front of the ego vehicle, a white sedan is stationary at coordinates <c3,CAM_FRONT,0.5440,0.5407>. The bright conditions make it challenging to distinguish objects clearly.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Rain. C. Bit error. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a white sedan to the back of the ego vehicle, a white bus to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5558,0.5324>, <c2,CAM_BACK,0.4849,0.5500>, <c3,CAM_FRONT,0.4130,0.5278>, and <c4,CAM_FRONT,0.5544,0.5431>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5558,0.5324> under the bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a white truck moving ahead, unaffected by the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5558,0.5324> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5558,0.5324> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the brightness does not affect this decision. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5558,0.5324> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to discern details. A white truck is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.5558,0.5324>. A stationary white sedan is also behind at <c2,CAM_BACK,0.4849,0.5500>. In front, a white bus is stationary at <c3,CAM_FRONT,0.4130,0.5278>, and another white sedan is stationary at <c4,CAM_FRONT,0.5544,0.5431>. The brightness causes glare on the wet road, and visibility is reduced, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Bit error. C. Color quant. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.4255,0.3713> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a yellow carriage moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a yellow carriage to the front right of the ego vehicle, a white truck to the front of the ego vehicle, and another white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.4255,0.3713>, <c2,CAM_FRONT,0.6474,0.5130>, and <c3,CAM_FRONT,0.7626,0.5111>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.4255,0.3713> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a yellow carriage, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.4255,0.3713> under bright conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.4255,0.3713> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting, making some details less distinct. To the front right, there is a yellow carriage moving ahead, located at coordinates <c1,CAM_FRONT_RIGHT,0.4255,0.3713>. Directly in front, there are two stationary white trucks, positioned at <c2,CAM_FRONT,0.6474,0.5130> and <c3,CAM_FRONT,0.7626,0.5111>. The environment includes large buildings and industrial structures, with the road appearing wide and open.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Snow. C. Color quant. D. JPEG compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black pickup truck to the front right of the ego vehicle, a white sedan to the front right of the ego vehicle, a black sedan to the back of the ego vehicle, and a black sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.4661,0.5750>, <c2,CAM_FRONT_RIGHT,0.0521,0.5547>, <c3,CAM_BACK,0.5229,0.6064>, and <c4,CAM_BACK_RIGHT,0.2703,0.6926>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.5229,0.6064> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a moving black sedan going ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.4661,0.5750> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a stationary black pickup truck.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.4661,0.5750> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed, the reason being that there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "befb96098dc14988ac468a6bd3cbd4a0",
    "frame_token": "82828760d5be4737be6719b1e565bedb",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to discern details. A black pickup truck is stationary to the front right of the ego vehicle at coordinates <c1,CAM_FRONT_RIGHT,0.4661,0.5750>. A white sedan is also stationary to the front right at <c2,CAM_FRONT_RIGHT,0.0521,0.5547>. Behind the ego vehicle, a black sedan is moving at <c3,CAM_BACK,0.5229,0.6064>, and another black sedan is stationary to the back right at <c4,CAM_BACK_RIGHT,0.2703,0.6926>. The environment includes a mix of parked and moving vehicles, with the brightness potentially affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478894278113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Fog. C. Bright. D. Sensor failure",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, an orange construction vehicle to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a worker wearing fluorescent clothing to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5771,0.5722>, <c2,CAM_FRONT,0.7026,0.5342>, <c3,CAM_BACK,0.5229,0.5583>, and <c4,CAM_FRONT_RIGHT,0.2739,0.6019>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5771,0.5722> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a black car that is moving.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5771,0.5722> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5771,0.5722> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn left. The reason is that there is no safety issue, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5771,0.5722> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "2e3c0f308fcf4664bf7994053d7080b9",
    "frame_token": "a836f9819fed473189e13551ce393bd9",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, which may cause glare and affect visibility. To the back of the ego vehicle, there is a moving black car (<c1,CAM_BACK,0.5771,0.5722>) and a stationary black sedan (<c3,CAM_BACK,0.5229,0.5583>). In front, there is a stationary orange construction vehicle (<c2,CAM_FRONT,0.7026,0.5342>). To the front right, a worker wearing fluorescent clothing is stationary (<c4,CAM_FRONT_RIGHT,0.2739,0.6019>). The bright conditions may make it challenging to see details clearly.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532622011428113.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Saturate. C. Bright. D. JPEG compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.3011,0.5408> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a silver SUV moving straight ahead, unaffected by the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a roadblock to the front right of the ego vehicle, a silver SUV to the front of the ego vehicle, and a white van to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.8620,0.8648>, <c2,CAM_FRONT,0.3011,0.5408>, and <c3,CAM_FRONT_LEFT,0.7688,0.4926>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when approaching the next location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when approaching the next 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?",
    "answer": "Firstly, notice that silver SUV at front camera. The object is turning left, so the ego vehicle should turn left. Secondly, notice that white van at left camera. The object is turning left, so the ego vehicle should turn left. Thirdly, notice that roadblock at right camera. The object is a traffic sign, so the ego vehicle should turn left.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.8620,0.8648> a traffic sign or a road barrier under bright conditions?",
    "answer": "Yes, Explanation: The object is a roadblock, which is a type of road barrier, clearly visible despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT_LEFT,0.7688,0.4926> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c2,CAM_FRONT,0.3011,0.5408> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn left. The reason is that there is no safety issue, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making some details harder to discern. To the front right, there is a roadblock positioned at coordinates <c1,CAM_FRONT_RIGHT,0.8620,0.8648>. Directly ahead, a silver SUV is moving forward at coordinates <c2,CAM_FRONT,0.3011,0.5408>. To the front left, a white van is also moving, located at coordinates <c3,CAM_FRONT_LEFT,0.7688,0.4926>. The road is clear, but the brightness may affect visibility of distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. Motion blur. D. Sensor failure",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a white coach to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.3792,0.4953>, <c2,CAM_FRONT,0.9654,0.5342>, and <c3,CAM_FRONT,0.5389,0.4707>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.3792,0.4953> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a black car moving ahead, and brightness does not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.3792,0.4953> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under brightness 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?",
    "answer": "Firstly notice that black sedan at front camera; the object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly notice that white coach at front camera; the object is turning right, so the ego vehicle should continue ahead at the same speed. Thirdly notice that black car at back camera; the object is going ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.3792,0.4953> under brightness conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.3792,0.4953> under brightness conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "c7492bdc08f8450fa580b7787331f0c9",
    "frame_token": "03d958beb9f548399af3d8be08add385",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to discern some details. To the back of the ego vehicle, there is a moving black car at coordinates <c1,CAM_BACK,0.3792,0.4953>. In front, there is a stationary black sedan at <c2,CAM_FRONT,0.9654,0.5342> and a moving white coach at <c3,CAM_FRONT,0.5389,0.4707>. The road is clear, but the brightness might obscure some distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915778127813.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Rain. C. Sensor failure. D. Color quant",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver business car to the front of the ego vehicle, a white SUV to the front of the ego vehicle, a black and white van to the back of the ego vehicle, and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.9573,0.6213>, <c2,CAM_FRONT,0.3609,0.5676>, <c3,CAM_BACK,0.5052,0.5630>, and <c4,CAM_FRONT,0.2458,0.5408>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.3609,0.5676> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white SUV that is moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.9573,0.6213> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a silver business car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.9573,0.6213> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability of taking this action is high, even with the brightness.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.9573,0.6213> considering the brightness?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,0.9573,0.6213>, even under bright conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the front of the ego vehicle, there is a stationary silver business car and a moving white SUV. A black and white van is moving behind the ego vehicle. Additionally, a black car is moving ahead. The environment includes a road with clear lane markings, surrounded by trees and buildings, and a traffic light is visible in the distance.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Rain. C. Bright. D. Fog",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front of the ego vehicle, a person wearing gray clothes to the back left of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5120,0.6000>, <c2,CAM_BACK_LEFT,0.9261,0.5694>, and <c3,CAM_FRONT,0.4667,0.5861>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5120,0.6000> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a white sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that a person wearing gray clothes at left rear camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that white truck at front camera. The object is stationary, so the ego vehicle should slow down and go ahead. Thirdly, notice that white sedan at front camera. The object is going ahead, so the ego vehicle should slow down and go ahead.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5120,0.6000> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5120,0.6000> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5120,0.6000> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "c6c092a66329470f836714f46b92d59b",
    "frame_token": "74f1506fb3f348a28783f117d9e50ff7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, making it challenging to discern details due to glare. To the front of the ego vehicle, there is a white sedan moving ahead, positioned at coordinates <c1,CAM_FRONT,0.5120,0.6000>. A stationary white truck is also in front, located at <c3,CAM_FRONT,0.4667,0.5861>. To the back left, a person wearing gray clothes is stationary at <c2,CAM_BACK_LEFT,0.9261,0.5694>. The road is surrounded by tall buildings and sparse vegetation, with clear skies above.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401553627893.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Bright. C. Zoom blur. D. Snow",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.1776,0.5926> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white SUV moving ahead, and the brightness does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a red and white truck to the back left of the ego vehicle, a white sedan to the front right of the ego vehicle, a gray SUV to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1776,0.5926>, <c2,CAM_FRONT,0.8752,0.5097>, <c3,CAM_BACK_LEFT,0.4977,0.5059>, <c4,CAM_FRONT_RIGHT,0.3214,0.6186>, <c5,CAM_FRONT,0.7468,0.5991>, and <c6,CAM_BACK,0.5135,0.7259>. The brightness may make these objects less distinct.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.1776,0.5926> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.1776,0.5926> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for taking this action is to follow the traffic rules, with a high probability. Brightness does not change the action.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop. Brightness may require more caution.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting, which may obscure some details. A white SUV is located at the front right of the ego vehicle, moving ahead. A white truck is directly in front, also moving. Behind to the left is a red and white truck, moving as well. Another white sedan is at the front right, and a gray SUV is in front. A black sedan is stationary at the back. The brightness may cause glare, affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Sensor failure. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a black sedan car to the back of the ego vehicle, and a white SUV to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7083,0.5917>, <c2,CAM_FRONT,0.6167,0.5537>, <c3,CAM_BACK,0.5354,0.5583>, and <c4,CAM_FRONT,0.4354,0.5417>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.7083,0.5917> under brightness corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black SUV moving ahead, and the brightness does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7083,0.5917> a traffic sign or a road barrier under brightness corruption?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even under brightness corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7083,0.5917> under brightness corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.7083,0.5917> under brightness corruption?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to discern details. However, key objects are identified: a black SUV is moving ahead at coordinates <c1,CAM_FRONT,0.7083,0.5917>, a white sedan is also moving ahead at <c2,CAM_FRONT,0.6167,0.5537>, a black sedan car is moving behind at <c3,CAM_BACK,0.5354,0.5583>, and a white SUV is moving ahead at <c4,CAM_FRONT,0.4354,0.5417>. The road appears wet, and the visibility is reduced due to the brightness, affecting the overall perception of the environment.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Bit error. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a bicycle on the roadside to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a trash can to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3583,0.5537>, <c2,CAM_FRONT,0.1148,0.5047>, and <c3,CAM_FRONT,0.7821,0.6447>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.1148,0.5047> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black sedan moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the brightness? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that trash can at front camera. The object is a traffic sign and the ego vehicle should continue ahead at the same speed. Secondly, notice that bicycle on the roadside at front camera. The object is stationary and the ego vehicle should continue ahead at the same speed. Thirdly, notice that black sedan at front camera. The object is moving ahead and the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3583,0.5537> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a bicycle on the roadside, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3583,0.5537> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking, and maintain the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting, making it challenging to discern details. To the front of the ego vehicle, there is a stationary bicycle on the roadside at coordinates <c1,CAM_FRONT,0.3583,0.5537>. A black sedan is moving ahead at coordinates <c2,CAM_FRONT,0.1148,0.5047>. Additionally, a trash can is visible at coordinates <c3,CAM_FRONT,0.7821,0.6447>. The road is lined with trees and residential buildings, and the brightness may cause glare, affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. H256 ABR compression. C. Zoom blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a silver SUV to the back of the ego vehicle, a person in a wheelchair to the front right of the ego vehicle, and a yield to pedestrians to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5833,0.5231>, <c2,CAM_FRONT,0.5339,0.5352>, <c3,CAM_BACK,0.5354,0.5741>, <c4,CAM_FRONT_RIGHT,0.0710,0.7817>, and <c5,CAM_FRONT,0.8222,0.5242>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5833,0.5231> under the bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a black car moving ahead, unaffected by the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5833,0.5231> a traffic sign or a road barrier considering the bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5833,0.5231> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. The ego vehicle is surrounded by several key objects: a black car moving ahead at coordinates <c1,CAM_FRONT,0.5833,0.5231>, a white sedan also moving ahead at <c2,CAM_FRONT,0.5339,0.5352>, and a silver SUV moving behind at <c3,CAM_BACK,0.5354,0.5741>. To the front right, a person in a wheelchair is moving at <c4,CAM_FRONT_RIGHT,0.0710,0.7817>. Additionally, there is a 'yield to pedestrians' sign at <c5,CAM_FRONT,0.8222,0.5242>. The brightness may affect the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Saturate. C. Bright. D. Dark",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a brown car to the back of the ego vehicle, a white sedan to the front right of the ego vehicle, and a blue sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.2677,0.6382>, <c2,CAM_FRONT_RIGHT,0.6359,0.5713>, and <c3,CAM_BACK_RIGHT,0.5479,0.6074>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.2677,0.6382> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a brown car and it is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice blue sedan at right rear camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice brown car at back camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice white sedan at right camera. It is stationary, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.2677,0.6382> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a brown car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.2677,0.6382> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, causing some glare and reduced visibility. To the back of the ego vehicle, there is a moving brown car, identified as <c1,CAM_BACK,0.2677,0.6382>. To the front right, a stationary white sedan is present, identified as <c2,CAM_FRONT_RIGHT,0.6359,0.5713>. Additionally, a blue sedan is stationary at the back right, identified as <c3,CAM_BACK_RIGHT,0.5479,0.6074>. The bright conditions may affect the perception of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. Dark. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black sedan to the back of the ego vehicle, a black car to the back of the ego vehicle, a black motorcycle to the front left of the ego vehicle, and a blue sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4886,0.5602>, <c2,CAM_BACK,0.5422,0.5750>, <c3,CAM_FRONT_LEFT,0.4750,0.8317>, and <c4,CAM_FRONT_RIGHT,0.6031,0.7083>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4886,0.5602> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black sedan moving to the right of the ego vehicle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4886,0.5602> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.4886,0.5602> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4886,0.5602> under bright conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,0.4886,0.5602>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "fcafd3944ae64aaf908b18425694c4f3",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the back of the ego vehicle, there is a black sedan and a black car, both moving. To the front left, a black motorcycle is stationary, and to the front right, a blue sedan is also stationary. The environment includes a parking area with several vehicles and a wall with distinct patterns.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845527677893.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Dark. C. Bright. D. H256 ABR compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5052,0.5436> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black car moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a blue sedan 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,0.5052,0.5436>, <c2,CAM_FRONT,0.7630,0.5814>, and <c3,CAM_BACK,0.6099,0.5602>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5052,0.5436> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice blue sedan at front camera. It is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice black SUV at back camera. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice black car at back camera. It is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5052,0.5436> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making some details less distinct. A black car is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.5052,0.5436>. Ahead, a blue sedan is stationary at <c2,CAM_FRONT,0.7630,0.5814>. Another black SUV is moving behind at <c3,CAM_BACK,0.6099,0.5602>. The road is clear, with visible lane markings, and the surroundings include trees and buildings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Bright. C. Fog. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front of the ego vehicle, a white truck to the front left of the ego vehicle, and pedestrians crossing the road to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4161,0.5547>, <c2,CAM_FRONT_LEFT,0.5418,0.5173>, and <c3,CAM_FRONT_RIGHT,0.1156,0.7759>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4161,0.5547> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a silver sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first under bright conditions when the ego vehicle is getting to the next possible location? 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?",
    "answer": "Firstly, notice that white truck at left camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that pedestrians crossing the road at right camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that silver sedan at front camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4161,0.5547> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4161,0.5547> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c2,CAM_FRONT_LEFT,0.5418,0.5173> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "52b30ecd104a4f4eab6f8f5684a73e56",
    "frame_token": "ee45b7c2598b4580920f96c5a97427be",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. A silver sedan is moving ahead in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.4161,0.5547>. To the front left, a white truck is stationary at <c2,CAM_FRONT_LEFT,0.5418,0.5173>. Pedestrians are crossing the road to the front right at <c3,CAM_FRONT_RIGHT,0.1156,0.7759>. The bright conditions may cause glare, affecting visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112796677893.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Bright. C. Saturate. D. Color quant",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a people on the roadside to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, a silver SUV to the back of the ego vehicle, and a black car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6594,0.5463>, <c2,CAM_FRONT,0.5219,0.5380>, <c3,CAM_BACK,0.5427,0.5889>, and <c4,CAM_FRONT_LEFT,0.4286,0.7827>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.5219,0.5380> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a blue sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.6594,0.5463> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6594,0.5463> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to follow the traffic rules, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6594,0.5463> under bright conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is a bright urban environment with high visibility. To the front of the ego vehicle, there are pedestrians on the roadside and a blue sedan moving ahead. Behind the ego vehicle, a silver SUV is also moving. To the front left, a black car is in motion. The brightness affects the visibility of these objects, but their positions remain clear: pedestrians at <c1,CAM_FRONT,0.6594,0.5463>, blue sedan at <c2,CAM_FRONT,0.5219,0.5380>, silver SUV at <c3,CAM_BACK,0.5427,0.5889>, and black car at <c4,CAM_FRONT_LEFT,0.4286,0.7827>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Sensor failure. C. Zoom blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.1082,0.6444> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a blue car moving ahead, and the bright conditions do not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a blue car to the back of the ego vehicle, a white car to the front right of the ego vehicle, and a gray jacket pedestrian to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5567,0.6936>, <c2,CAM_BACK,0.1082,0.6444>, <c3,CAM_FRONT_RIGHT,0.7864,0.6463>, and <c4,CAM_BACK_RIGHT,0.3453,0.6009>. The brightness does not obscure these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5567,0.6936> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5567,0.6936> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep stationary. The reason for taking this action is to follow the traffic rules, with a high probability. The brightness does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop. The brightness requires careful observation but does not change the safe actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it slightly challenging to discern details. A black SUV is stationary at the back of the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.5567,0.6936>. A blue car is moving ahead, located at <c2,CAM_BACK,0.1082,0.6444>. To the front right, a white car is moving, seen at <c3,CAM_FRONT_RIGHT,0.7864,0.6463>. Additionally, a pedestrian in a gray jacket is stationary at the back right, at <c4,CAM_BACK_RIGHT,0.3453,0.6009>. The brightness affects visibility but all objects are identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. Zoom blur. D. Saturate",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a white truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7484,0.6028>, <c2,CAM_FRONT,0.7604,0.4963>, and <c3,CAM_BACK,0.5521,0.5342>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.5521,0.5342> under the bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that white sedan at front camera; it is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly notice that white truck at front camera; it is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that white truck at back camera; the object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7484,0.6028> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7484,0.6028> considering the bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.7484,0.6028> under bright conditions?",
    "answer": "Changing to the right lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. The road is wet, indicating recent rain, and there are reflections on the surface. A white sedan is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.7484,0.6028>. A white truck is also stationary in front at <c2,CAM_FRONT,0.7604,0.4963>. Behind the ego vehicle, a white truck is moving at <c3,CAM_BACK,0.5521,0.5342>. Trees line the road, and a building is visible in the background.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Dark. C. Fog. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.7406,0.5500> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white motorhome to the back of the ego vehicle, a black car to the back of the ego vehicle, a black sedan to the front 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,0.5167,0.5063>, <c2,CAM_BACK,0.8479,0.7574>, <c3,CAM_FRONT,0.7406,0.5500>, and <c4,CAM_FRONT_LEFT,0.3858,0.7372>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5167,0.5063> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white motorhome, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5167,0.5063> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is to follow the traffic rules, which has a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is bright, affecting visibility. Key objects include a white motorhome positioned at the back of the ego vehicle, a black car also at the back, a black sedan moving ahead in front of the ego vehicle, and another black sedan stationary to the front left. The scene includes urban elements like buildings and traffic lights, with the brightness potentially causing glare.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Sensor failure. C. Bit error. D. Fog",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a black car to the back of the ego vehicle, a gray SUV to the front of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a gray sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4979,0.5498>, <c2,CAM_BACK,0.8615,0.7547>, <c3,CAM_FRONT,0.4042,0.5444>, <c4,CAM_FRONT,0.6797,0.4583>, <c5,CAM_FRONT,0.3198,0.5436>, and <c6,CAM_FRONT,0.2245,0.5444>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.4042,0.5444> under the bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a gray SUV moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4979,0.5498> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a stationary white truck.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4979,0.5498> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "01df3b9136484a5d8af9f2547f8ebfb8",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting, making it challenging to discern details. To the back of the ego vehicle, there is a stationary white truck at coordinates <c1,CAM_BACK,0.4979,0.5498> and a stationary black car at <c2,CAM_BACK,0.8615,0.7547>. In front, a gray SUV is moving left at <c3,CAM_FRONT,0.4042,0.5444>, a white truck is moving at <c4,CAM_FRONT,0.6797,0.4583>, a black sedan is moving at <c5,CAM_FRONT,0.3198,0.5436>, and a gray sedan is moving at <c6,CAM_FRONT,0.2245,0.5444>. The brightness affects visibility, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298962378113.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Rain. C. H256 ABR compression. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.0209,0.6139> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "B, Explanation: The object is a blue sedan car moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue sedan car to the front right of the ego vehicle, a black SUV to the front right of the ego vehicle, a blue sedan to the front of the ego vehicle, a red car to the back of the ego vehicle, and a go straight sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.0209,0.6139>, <c2,CAM_FRONT_RIGHT,0.5938,0.6564>, <c3,CAM_FRONT,0.8542,0.6814>, <c4,CAM_BACK,0.4500,0.7592>, and <c5,CAM_BACK_RIGHT,0.6689,0.9503>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.0209,0.6139> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a blue sedan car, not a traffic sign or road barrier, despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.0209,0.6139> under bright conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, causing potential glare and reduced visibility. Key objects include a blue sedan car moving to the front right of the ego vehicle at coordinates <c1,CAM_FRONT_RIGHT,0.0209,0.6139>, a black SUV also moving to the front right at <c2,CAM_FRONT_RIGHT,0.5938,0.6564>, and another blue sedan moving directly in front at <c3,CAM_FRONT,0.8542,0.6814>. Behind the ego vehicle is a stationary red car at <c4,CAM_BACK,0.4500,0.7592>, and a 'go straight' sign is visible to the back right at <c5,CAM_BACK_RIGHT,0.6689,0.9503>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. Snow. D. Rain",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white van to the back of the ego vehicle, a white sedan car to the back of the ego vehicle, a gray SUV to the front of the ego vehicle, a gray-white business to the front left of the ego vehicle, and a right turn to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5130,0.6352>, <c2,CAM_BACK,0.8313,0.7297>, <c3,CAM_FRONT,0.6474,0.5944>, <c4,CAM_FRONT_LEFT,0.8667,0.6297>, and <c5,CAM_FRONT,0.4078,0.6176>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "With the brightness affecting visibility, what is the moving status of object <c1,CAM_BACK,0.5130,0.6352>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white van moving straight ahead, unaffected by the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, is <c1,CAM_BACK,0.5130,0.6352> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what actions could the ego vehicle take based on <c1,CAM_BACK,0.5130,0.6352>? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "With the brightness affecting visibility, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5130,0.6352>?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "3ace9decdd1f4ea0915b9862c95ca128",
    "frame_token": "07822f37eb644d5ba749662d707a3312",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility and making it challenging to discern details. To the back of the ego vehicle, there is a moving white van at coordinates <c1,CAM_BACK,0.5130,0.6352> and a white sedan car at <c2,CAM_BACK,0.8313,0.7297>. In front, a gray SUV is moving at <c3,CAM_FRONT,0.6474,0.5944>, and a gray-white business vehicle is at <c4,CAM_FRONT_LEFT,0.8667,0.6297>. A right turn is indicated at <c5,CAM_FRONT,0.4078,0.6176>. The brightness may obscure some details, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800933377893.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Color quant. C. Bright. D. Dark",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.5443,0.5648> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front left of the ego vehicle, a blue truck to the back right of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6739,0.5936>, <c2,CAM_BACK_RIGHT,0.1880,0.4778>, and <c3,CAM_BACK,0.5443,0.5648>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice black car at left camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice blue truck at right rear camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice black sedan at back camera. It is going ahead, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6739,0.5936> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.6739,0.5936> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing some glare and reduced contrast. To the front left, there is a stationary black car (<c1,CAM_FRONT_LEFT,0.6739,0.5936>). To the back right, a blue truck is parked (<c2,CAM_BACK_RIGHT,0.1880,0.4778>). Directly behind, a black sedan is moving forward (<c3,CAM_BACK,0.5443,0.5648>). The road is clear, and visibility is generally good despite the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. H256 ABR compression. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.1000,0.5297> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a black car moving ahead, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a white SUV to the back of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1000,0.5297>, <c2,CAM_BACK,0.4656,0.5797>, and <c3,CAM_BACK_RIGHT,0.7927,0.5833>. The brightness does not obscure these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.1000,0.5297> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that black car at right camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that white SUV at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that silver sedan at right rear camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. The brightness does not alter the order of noticing these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the right, slightly offset to the left, keep going at the same speed. The brightness does not necessitate a change in these actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.1000,0.5297> under bright conditions?",
    "answer": "No such action will lead to a collision. The brightness does not increase the risk of collision with the black car.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is affected by bright conditions, causing glare and reduced visibility. Despite this, the key objects are identifiable: a black car is moving ahead at the front right (coordinates: 0.1000, 0.5297), a white SUV is moving behind the ego vehicle (coordinates: 0.4656, 0.5797), and a silver sedan is moving at the back right (coordinates: 0.7927, 0.5833). The road is wet, and the brightness creates reflections on the surface, but the lane markings are still visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Snow. C. Motion blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver SUV to the back of the ego vehicle, a pedestrian with a backpack to the front right of the ego vehicle, and a yellow sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5531,0.5917>, <c2,CAM_FRONT_RIGHT,0.4011,0.6167>, and <c3,CAM_FRONT_RIGHT,0.1047,0.4354>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5531,0.5917> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a silver SUV moving ahead, and the bright conditions do not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that yellow sign at right camera, the state of which is a traffic sign, so the ego vehicle should slow down and proceed. Secondly notice that pedestrian with a backpack at right camera, the state of which is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly notice that silver SUV at back camera, the state of which is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5531,0.5917> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver SUV, not a traffic sign or road barrier, and the bright conditions do not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5531,0.5917> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, slightly offset to the left, or slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare that may obscure some details. A silver SUV is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.5531,0.5917>. A pedestrian with a backpack is walking to the front right of the ego vehicle, located at <c2,CAM_FRONT_RIGHT,0.4011,0.6167>. Additionally, a yellow traffic sign is visible to the front right, at <c3,CAM_FRONT_RIGHT,0.1047,0.4354>. The bright conditions may affect visibility, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Snow. C. H256 ABR compression. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5708,0.5074> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a yellow truck moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow truck to the front of the ego vehicle, a black sedan to the front left of the ego vehicle, a white SUV to the back of the ego vehicle, and a person wearing black clothes to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5708,0.5074>, <c2,CAM_FRONT_LEFT,0.7208,0.7646>, <c3,CAM_BACK,0.5573,0.5620>, and <c4,CAM_FRONT,0.6969,0.5481>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5708,0.5074> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a yellow truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5708,0.5074> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed, the reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. Ahead, there is a yellow truck moving to the right at coordinates <c1,CAM_FRONT,0.5708,0.5074>. To the front left, a black sedan is moving at <c2,CAM_FRONT_LEFT,0.7208,0.7646>. Behind, a white SUV is moving at <c3,CAM_BACK,0.5573,0.5620>. A pedestrian wearing black clothes is moving in front at <c4,CAM_FRONT,0.6969,0.5481>. The brightness affects the clarity of these objects, requiring careful observation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Saturate. C. Sensor failure. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.7448,0.6389> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a blue car moving ahead, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a blue car to the front right of the ego vehicle, a white sedan car to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.7448,0.6389>, <c2,CAM_FRONT,0.2516,0.6342>, and <c3,CAM_FRONT,0.4031,0.5287>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.7448,0.6389> a traffic sign or a road barrier under the brightness condition?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, even under brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.7448,0.6389> under brightness conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by increased brightness, making it challenging to perceive details clearly. There is a blue car moving to the front right of the ego vehicle, located at coordinates <c1,CAM_FRONT_RIGHT,0.7448,0.6389>. Ahead, a white sedan car is positioned at <c2,CAM_FRONT,0.2516,0.6342>, and another white sedan is at <c3,CAM_FRONT,0.4031,0.5287>. The road is illuminated, but the brightness may obscure finer details of the surroundings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. Color quant. D. Rain",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6849,0.5324> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a black sedan to the front right of the ego vehicle, a silver sedan to the back right of the ego vehicle, a white truck to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6849,0.5324>, <c2,CAM_FRONT_RIGHT,0.4274,0.6966>, <c3,CAM_BACK_RIGHT,0.5505,0.7083>, <c4,CAM_BACK,0.5422,0.5370>, and <c5,CAM_FRONT,0.4980,0.3700>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6849,0.5324> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6849,0.5324> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to perceive details. A white truck is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.6849,0.5324>. A black sedan is stationary to the front right at <c2,CAM_FRONT_RIGHT,0.4274,0.6966>. A silver sedan is stationary to the back right at <c3,CAM_BACK_RIGHT,0.5505,0.7083>. Another white truck is moving behind at <c4,CAM_BACK,0.5422,0.5370>. A green light is visible in front at <c5,CAM_FRONT,0.4980,0.3700>. The brightness affects visibility, but key objects are still identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Bright. C. Color quant. D. Snow",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white commercial vehicle to the back of the ego vehicle, a black sedan to the back of the ego vehicle, a black van to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.1329,0.6872>, <c2,CAM_BACK,0.6964,0.5953>, <c3,CAM_BACK,0.3380,0.6047>, <c4,CAM_FRONT,0.9047,0.6806>, and <c5,CAM_FRONT,0.5094,0.5130>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c5,CAM_FRONT,0.5094,0.5130> under the bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving ahead despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.1329,0.6872> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c4,CAM_FRONT,0.9047,0.6806> considering the brightness?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, brake gently to a stop, accelerate, and go ahead.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to perceive details. To the back of the ego vehicle, there is a stationary white commercial vehicle at coordinates <c1,CAM_BACK,0.1329,0.6872>, a black sedan at <c2,CAM_BACK,0.6964,0.5953>, and a black van at <c3,CAM_BACK,0.3380,0.6047>. In front of the ego vehicle, a stationary white sedan is located at <c4,CAM_FRONT,0.9047,0.6806>, and a moving white truck is at <c5,CAM_FRONT,0.5094,0.5130>. The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Motion blur. C. Bright. D. Sensor failure",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.1432,0.4833> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front left of the ego vehicle, a black car to the front right of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, and a white zebra crossing to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.1432,0.4833>, <c2,CAM_FRONT_RIGHT,0.2636,0.6574>, <c3,CAM_BACK,0.9017,0.6361>, and <c4,CAM_FRONT,0.3416,0.7904>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.1432,0.4833> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.1432,0.4833> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.1432,0.4833> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to turn left. The reason is that there is no safety issue, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the front left, there is a white truck moving, identified as <c1,CAM_FRONT_LEFT,0.1432,0.4833>. A black car is stationary to the front right, identified as <c2,CAM_FRONT_RIGHT,0.2636,0.6574>. Behind the ego vehicle, a black commercial vehicle is moving, identified as <c3,CAM_BACK,0.9017,0.6361>. A white zebra crossing is visible in front, identified as <c4,CAM_FRONT,0.3416,0.7904>. The brightness may cause glare, impacting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. H256 ABR compression. C. Rain. D. Color quant",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.7137,0.5362> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a black car that is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a silver sedan to the back left of the ego vehicle, and a silver sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7137,0.5362>, <c2,CAM_BACK_LEFT,0.2646,0.6481>, and <c3,CAM_FRONT_LEFT,0.1278,0.5478>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice silver sedan at left camera. It is stationary, so the ego vehicle should slow down and proceed. Secondly, notice silver sedan at left rear camera. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice black car at back camera. It is turning left, so the ego vehicle should slow down and proceed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.7137,0.5362> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.7137,0.5362> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is affected by bright conditions, making visibility challenging. The scene includes a black car moving to the back of the ego vehicle, located at coordinates <c1,CAM_BACK,0.7137,0.5362>. There is a stationary silver sedan to the back left, positioned at <c2,CAM_BACK_LEFT,0.2646,0.6481>, and another stationary silver sedan to the front left at <c3,CAM_FRONT_LEFT,0.1278,0.5478>. The brightness affects the clarity of these objects, requiring careful attention from the ego vehicle.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Bright. C. JPEG compression. D. Color quant",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.5495,0.4880> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black commercial vehicle and it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the front of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, and a black sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5437,0.5056>, <c2,CAM_BACK,0.5495,0.4880>, and <c3,CAM_BACK_LEFT,0.7208,0.6537>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5437,0.5056> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white sedan car and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice white sedan car at front camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice black sedan at left rear camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice black commercial vehicle at back camera. It is turning right, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed ahead.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5437,0.5056> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. To the front of the ego vehicle, there is a stationary white sedan car positioned at coordinates <c1,CAM_FRONT,0.5437,0.5056>. Behind the ego vehicle, a black commercial vehicle is moving and turning right, located at <c2,CAM_BACK,0.5495,0.4880>. To the back left, a black sedan is stationary at <c3,CAM_BACK_LEFT,0.7208,0.6537>. The brightness affects visibility, but the key objects are still identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. Saturate. D. Bit error",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.7864,0.5759> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black SUV moving to the left under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a black unknown to the front left of the ego vehicle, a gray SUV to the back left of the ego vehicle, and an orange roadblock to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7864,0.5759>, <c2,CAM_FRONT_LEFT,0.5500,0.5287>, <c3,CAM_BACK_LEFT,0.6630,0.7074>, and <c4,CAM_BACK,0.2224,0.7056>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.7864,0.5759> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7864,0.5759> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn left because there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.7864,0.5759> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the back of the ego vehicle, there is a moving black SUV (coordinates: 0.7864, 0.5759). To the front left, there is a stationary black unknown object (coordinates: 0.5500, 0.5287). A gray SUV is stationary to the back left (coordinates: 0.6630, 0.7074), and an orange roadblock is positioned to the back (coordinates: 0.2224, 0.7056). The environment includes construction areas and parked vehicles, with bright light affecting the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. JPEG compression. C. Bright. D. Zoom blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5953,0.6297> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan, and despite the brightness, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the back of the ego vehicle, a person wearing a blue shirt and black pants to the back of the ego vehicle, a white coach to the front of the ego vehicle, and a white straight road sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5953,0.6297>, <c2,CAM_BACK,0.1943,0.5991>, <c3,CAM_FRONT,0.3120,0.5194>, and <c4,CAM_FRONT,0.5270,0.6279>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5953,0.6297> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5953,0.6297> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the back of the ego vehicle, there is a gray sedan moving, identified as <c1,CAM_BACK,0.5953,0.6297>. A pedestrian wearing a blue shirt and black pants is also moving at <c2,CAM_BACK,0.1943,0.5991>. In front of the ego vehicle, a white coach is moving, identified as <c3,CAM_FRONT,0.3120,0.5194>. Additionally, a white straight road sign is visible at <c4,CAM_FRONT,0.5270,0.6279>. The brightness affects the clarity of these objects, but their positions and movements are still discernible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Motion blur. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is an orange to the back of the ego vehicle, a green to the front of the ego vehicle, and a purple to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6958,0.6241>, <c2,CAM_FRONT,0.5776,0.5789>, and <c3,CAM_FRONT,0.6986,0.6102>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6958,0.6241> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is moving and appears orange, indicating a left turn is appropriate.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "The ego vehicle should first notice purple at front camera, which is in a stationary state, so the ego vehicle should take a slight left deviation. The ego vehicle should then notice green at front camera, which is also in a stationary state, so the ego vehicle should take a slight left deviation. Finally, the ego vehicle should notice orange at back camera, which is moving forward, so the ego vehicle should continue straight at a constant speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6958,0.6241> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is moving and appears orange, indicating it is neither a traffic sign nor a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6958,0.6241> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, slightly offset to the right, change to the left lane, change to the right lane, turn left, or turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is bright, affecting visibility. The road is surrounded by greenery, with a path on the left and a few buildings visible in the distance. Key objects include an orange object moving at the back of the vehicle, located at coordinates <c1,CAM_BACK,0.6958,0.6241>, a green stationary object at the front, located at <c2,CAM_FRONT,0.5776,0.5789>, and a purple stationary object also at the front, located at <c3,CAM_FRONT,0.6986,0.6102>. The brightness may obscure some details, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Sensor failure. C. Color quant. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a man carrying a black backpack to the back left of the ego vehicle, a silver-gray sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a red truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.9339,0.7139>, <c2,CAM_FRONT,0.3328,0.5797>, <c3,CAM_BACK_LEFT,0.8089,0.6463>, <c4,CAM_FRONT,0.0861,0.6380>, <c5,CAM_FRONT,0.5036,0.5936>, and <c6,CAM_BACK,0.5724,0.5898>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.9339,0.7139> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a gray sedan moving under bright conditions, turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.9339,0.7139> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.9339,0.7139> considering the brightness?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, and slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to perceive distant objects clearly. The ego vehicle is surrounded by several vehicles: a gray sedan is moving behind it, a black SUV is ahead, and a man with a black backpack is to the back left. Additionally, a silver-gray sedan and a black sedan are stationary in front, while a red truck is moving behind. The brightness may cause glare, affecting visibility and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Color quant. C. Bright. D. Fog",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.9337,0.6880> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan moving to the left of the ego vehicle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a pedestrian wearing black clothes to the back left of the ego vehicle, a white SUV to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.9337,0.6880>, <c2,CAM_FRONT,0.2799,0.6153>, <c3,CAM_BACK_LEFT,0.7995,0.6472>, <c4,CAM_FRONT_LEFT,0.8386,0.5908>, <c5,CAM_FRONT,0.3703,0.5880>, and <c6,CAM_BACK,0.6428,0.5579>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.9337,0.6880> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking and turn left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.9337,0.6880> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is bright, affecting visibility. The scene includes a busy urban intersection with multiple vehicles and pedestrians. A gray sedan is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.9337,0.6880>. A black SUV is ahead at <c2,CAM_FRONT,0.2799,0.6153>, and a pedestrian in black is moving to the back left at <c3,CAM_BACK_LEFT,0.7995,0.6472>. Additionally, a white SUV is stationary to the front left at <c4,CAM_FRONT_LEFT,0.8386,0.5908>, a black sedan is stationary in front at <c5,CAM_FRONT,0.3703,0.5880>, and a red truck is moving behind at <c6,CAM_BACK,0.6428,0.5579>. The bright conditions may cause glare, impacting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. JPEG compression. D. Bit error",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow bicycle to the back left of the ego vehicle, a gray sedan to the back of the ego vehicle, and an orange and black construction sign to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.3974,0.5297>, <c2,CAM_BACK,0.7536,0.5972>, and <c3,CAM_FRONT_LEFT,0.8336,0.5080>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.7536,0.5972> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a gray sedan, which is moving and turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.3974,0.5297> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a yellow bicycle, which is stationary.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "First, notice orange and black construction sign at left camera, which is in a state of construction ahead, so the ego vehicle should maintain speed and continue forward. Second, notice gray sedan at back camera, which is in a state of left turn, so the ego vehicle should maintain speed and continue forward. Finally, notice yellow bicycle at left rear camera, which is stationary, so the ego vehicle should maintain speed and continue forward.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,0.3974,0.5297> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed, the reason being that there is no safety issue, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, making it challenging to discern some details. The road is clear with a few trees lining the sides. To the back left, there is a stationary yellow bicycle at coordinates <c1,CAM_BACK_LEFT,0.3974,0.5297>. Directly behind the ego vehicle, a gray sedan is moving and turning left at coordinates <c2,CAM_BACK,0.7536,0.5972>. To the front left, an orange and black construction sign is visible, indicating construction ahead at coordinates <c3,CAM_FRONT_LEFT,0.8336,0.5080>. The bright conditions may cause glare, affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Fog. C. Bright. D. Zoom blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5698,0.5019> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a bus moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a bus to the back of the ego vehicle, a red car to the front of the ego vehicle, a white car to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5698,0.5019>, <c2,CAM_FRONT,0.6141,0.6314>, <c3,CAM_BACK,0.5380,0.5342>, and <c4,CAM_FRONT,0.0792,0.5722>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5698,0.5019> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5698,0.5019> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to discern details. A bus is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.5698,0.5019>. In front, a red car is positioned at <c2,CAM_FRONT,0.6141,0.6314>, and a white sedan is at <c4,CAM_FRONT,0.0792,0.5722>. Another white car is also moving behind at <c3,CAM_BACK,0.5380,0.5342>. The bright conditions may obscure some visual cues, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Motion blur. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.4542,0.6213> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "C, Explanation: The object is a white sedan turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a black car to the back of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8938,0.5009>, <c2,CAM_BACK,0.8141,0.5667>, and <c3,CAM_BACK,0.4542,0.6213>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8938,0.5009> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that white sedan at back camera. The object is turning right, so the ego vehicle should continue ahead at the same speed. Secondly, notice that black car at back camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that black SUV at back camera. The object is stationary, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8938,0.5009> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.8938,0.5009> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is set at night with increased brightness, making the surroundings appear more illuminated. The road is lined with trees and streetlights, providing some visibility. A black SUV is stationary at the back with coordinates <c1,CAM_BACK,0.8938,0.5009>. Nearby, a black car is also stationary at <c2,CAM_BACK,0.8141,0.5667>. A white sedan is moving, turning right at <c3,CAM_BACK,0.4542,0.6213>. The bright conditions may affect the visibility of distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Saturate. C. Sensor failure. D. Zoom blur",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white small truck to the front right of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.2500,0.6259>, <c2,CAM_BACK,0.8832,0.6250>, <c3,CAM_FRONT,0.4500,0.5963>, and <c4,CAM_BACK,0.3880,0.5630>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.8832,0.6250> under brightness corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white commercial vehicle moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.2500,0.6259> a traffic sign or a road barrier under brightness corruption?",
    "answer": "No, Explanation: The object is a white small truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle under brightness corruption can lead to a collision with <c1,CAM_FRONT_RIGHT,0.2500,0.6259>?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily affected by brightness, making it challenging to discern details. The road is illuminated by streetlights, causing glare. A white sedan is moving ahead of the ego vehicle, positioned at <c3,CAM_FRONT,0.4500,0.5963>. To the front right, a white small truck is stationary at <c1,CAM_FRONT_RIGHT,0.2500,0.6259>. Behind the ego vehicle, a white commercial vehicle is moving at <c2,CAM_BACK,0.8832,0.6250>, and a black car is stationary at <c4,CAM_BACK,0.3880,0.5630>. The brightness makes it difficult to see beyond these immediate surroundings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Bright. C. H256 ABR compression. D. Color quant",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.4781,0.5722> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a black sedan moving under bright conditions, which might affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black car to the back of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a yellow truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4641,0.7222>, <c2,CAM_FRONT,0.3792,0.5064>, <c3,CAM_FRONT,0.4781,0.5722>, <c4,CAM_FRONT,0.5761,0.5389>, <c5,CAM_FRONT,0.2989,0.5167>, and <c6,CAM_FRONT,0.7819,0.4186>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4641,0.7222> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, or keep going at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.4641,0.7222> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason is to follow traffic rules, which has a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the back of the ego vehicle, there is a stationary black car at coordinates <c1,CAM_BACK,0.4641,0.7222>. In front, a stationary white truck is at <c2,CAM_FRONT,0.3792,0.5064>, and a moving black sedan is at <c3,CAM_FRONT,0.4781,0.5722>. Another moving black sedan is at <c4,CAM_FRONT,0.5761,0.5389>, and a stationary yellow truck is at <c5,CAM_FRONT,0.2989,0.5167>. A red light is visible at <c6,CAM_FRONT,0.7819,0.4186>. The bright conditions may cause glare, affecting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. H256 ABR compression. C. Bright. D. Dark",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a white SUV to the front of the ego vehicle, a white truck to the front of the ego vehicle, a black SUV to the front left of the ego vehicle, a yellow truck to the front of the ego vehicle, and a black traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4641,0.7213>, <c2,CAM_FRONT,0.4437,0.5750>, <c3,CAM_FRONT,0.5437,0.5064>, <c4,CAM_FRONT_LEFT,0.6339,0.5972>, <c5,CAM_FRONT,0.2989,0.5176>, and <c6,CAM_FRONT,0.7911,0.4348>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.4437,0.5750> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "C, Explanation: The object is a white SUV moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4641,0.7213> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.4641,0.7213> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep stationary, the reason is there is no safety issue, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern finer details. To the back of the ego vehicle, there is a stationary black SUV. In front, a white SUV and a white truck are moving, while a yellow truck remains stationary. On the front left, a black SUV is moving. A black traffic light is positioned in front of the ego vehicle. The brightness affects the visibility of these objects, but their positions are noted as follows: <c1,CAM_BACK,0.4641,0.7213>, <c2,CAM_FRONT,0.4437,0.5750>, <c3,CAM_FRONT,0.5437,0.5064>, <c4,CAM_FRONT_LEFT,0.6339,0.5972>, <c5,CAM_FRONT,0.2989,0.5176>, and <c6,CAM_FRONT,0.7911,0.4348>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Motion blur. C. Bright. D. Rain",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the back of the ego vehicle, a blue pants pedestrian to the front right of the ego vehicle, a black sedan to the front right of the ego vehicle, a white shirt pedestrian to the back right of the ego vehicle, an orange car to the front of the ego vehicle, and a pedestrian wearing a black top to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6594,0.5667>, <c2,CAM_FRONT_RIGHT,0.5739,0.6408>, <c3,CAM_FRONT_RIGHT,0.5489,0.5972>, <c4,CAM_BACK_RIGHT,0.4724,0.6259>, <c5,CAM_FRONT,0.3229,0.5082>, and <c6,CAM_BACK_RIGHT,0.8761,0.7009>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6594,0.5667> under brightness distortion? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black sedan moving under brightness distortion, which may affect visibility but not its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6594,0.5667> a traffic sign or a road barrier under brightness distortion?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, even under brightness distortion.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6594,0.5667> under brightness distortion?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6594,0.5667> under brightness distortion? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "47cfdbcf14fe47d2a3b9e7e5b46d8a36",
    "frame_token": "911ef21347b2423da972d71284372bc3",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness distortion, making it challenging to perceive details clearly. Key objects include a black sedan moving behind the ego vehicle, a pedestrian in blue pants to the front right, another black sedan also to the front right, a white shirt pedestrian to the back right, an orange car directly in front, and a pedestrian in a black top to the back right. These objects are positioned at coordinates <c1,CAM_BACK,0.6594,0.5667>, <c2,CAM_FRONT_RIGHT,0.5739,0.6408>, <c3,CAM_FRONT_RIGHT,0.5489,0.5972>, <c4,CAM_BACK_RIGHT,0.4724,0.6259>, <c5,CAM_FRONT,0.3229,0.5082>, and <c6,CAM_BACK_RIGHT,0.8761,0.7009> respectively. The overall environment appears washed out, requiring careful attention to maintain safe navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985211777893.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Dark. C. Bright. D. Rain",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.4114,0.6481> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a red pickup truck moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back of the ego vehicle, a red pickup truck to the front of the ego vehicle, a gray SUV to the front right of the ego vehicle, a pedestrian riding a bicycle to the front right of the ego vehicle, a blue sedan to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.1651,0.7203>, <c2,CAM_FRONT,0.4114,0.6481>, <c3,CAM_FRONT_RIGHT,0.6085,0.7009>, <c4,CAM_FRONT_RIGHT,0.2776,0.6213>, <c5,CAM_BACK,0.6229,0.7639>, and <c6,CAM_FRONT,0.5251,0.2813>. Brightness may affect the visibility of these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.1651,0.7203> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.1651,0.7203> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is to follow the traffic rules, and the probability of taking this action is high. Brightness may affect the decision-making process.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, slightly offset to the right, brake suddenly. Brightness may impact the visibility and reaction time.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is set in an urban environment with increased brightness affecting visibility. Key objects include a white SUV positioned at the back of the ego vehicle, a red pickup truck moving ahead, and a gray SUV stationary to the front right. A pedestrian on a bicycle is also moving to the front right. Additionally, a blue sedan is stationary at the back, and a red light is visible at the front. The brightness may cause glare, impacting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Fog. C. Bit error. D. JPEG compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red pickup truck to the front of the ego vehicle, a light gray SUV to the front right of the ego vehicle, a blue sedan to the back of the ego vehicle, a white pickup truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.8271,0.5833>, <c2,CAM_FRONT_RIGHT,0.6097,0.6898>, <c3,CAM_BACK,0.6229,0.7639>, <c4,CAM_FRONT,0.4308,0.6167>, and <c5,CAM_FRONT,0.5334,0.2813>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.8271,0.5833> under brightness conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a red pickup truck that is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.8271,0.5833> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a red pickup truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.8271,0.5833> under brightness conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep stationary, the reason is to follow the traffic rules, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.8271,0.5833> under brightness conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A red pickup truck is moving in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.8271,0.5833>. To the front right, a light gray SUV is stationary at <c2,CAM_FRONT_RIGHT,0.6097,0.6898>. Behind the ego vehicle, a blue sedan is stationary at <c3,CAM_BACK,0.6229,0.7639>. Another white pickup truck is moving in front at <c4,CAM_FRONT,0.4308,0.6167>. A red light is visible ahead at <c5,CAM_FRONT,0.5334,0.2813>, indicating the need to stop.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Zoom blur. C. Snow. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c4,CAM_BACK,0.7046,0.6666> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white pickup truck moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black car to the front right of the ego vehicle, a black SUV to the front of the ego vehicle, a person wearing a black shirt to the back of the ego vehicle, a white pickup truck to the back of the ego vehicle, and a pedestrian crossing ahead to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.2052,0.6064>, <c2,CAM_FRONT,0.4589,0.5750>, <c3,CAM_BACK,0.3719,0.6176>, <c4,CAM_BACK,0.7046,0.6666>, and <c5,CAM_FRONT_RIGHT,0.6670,0.4403>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.2052,0.6064> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.2052,0.6064> under bright conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.2052,0.6064> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn right. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. To the front right, there is a stationary black car (<c1,CAM_FRONT_RIGHT,0.2052,0.6064>). Directly in front, a black SUV is stationary (<c2,CAM_FRONT,0.4589,0.5750>). Behind the ego vehicle, a person wearing a black shirt is stationary (<c3,CAM_BACK,0.3719,0.6176>), and a white pickup truck is moving (<c4,CAM_BACK,0.7046,0.6666>). Additionally, there is a pedestrian crossing sign ahead on the front right (<c5,CAM_FRONT_RIGHT,0.6670,0.4403>).",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Bright. C. Snow. D. Color quant",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front of the ego vehicle, a black SUV to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a pedestrian riding a bike to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4870,0.5314>, <c2,CAM_BACK,0.5380,0.5491>, <c3,CAM_FRONT,0.2031,0.5648>, <c4,CAM_FRONT,0.3739,0.5814>, <c5,CAM_FRONT,0.7281,0.5556>, and <c6,CAM_FRONT,0.5153,0.4084>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4870,0.5314> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a black SUV moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4870,0.5314> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4870,0.5314> considering the brightness?",
    "answer": "No such an action will lead to collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to discern details. A black SUV is moving in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.4870,0.5314>. Another black SUV is moving behind the ego vehicle at <c2,CAM_BACK,0.5380,0.5491>. A black sedan is stationary in front at <c4,CAM_FRONT,0.3739,0.5814>, and another black sedan is moving at <c3,CAM_FRONT,0.2031,0.5648>. A pedestrian riding a bike is stationary at <c5,CAM_FRONT,0.7281,0.5556>. A red light is visible at <c6,CAM_FRONT,0.5153,0.4084>. The brightness affects the visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Zoom blur. C. Saturate. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.4406,0.4824> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white truck moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a cone bucket to the front of the ego vehicle, a white truck to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, a black sedan car to the front of the ego vehicle, a black sedan to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2370,0.6269>, <c2,CAM_FRONT,0.4406,0.4824>, <c3,CAM_FRONT_RIGHT,0.5514,0.7162>, <c4,CAM_FRONT,0.5813,0.5389>, <c5,CAM_BACK,0.1547,0.7491>, and <c6,CAM_FRONT,0.6838,0.3664>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2370,0.6269> a traffic sign or a road barrier under bright conditions?",
    "answer": "Yes, Explanation: The object is a cone bucket, which acts as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle under bright conditions can lead to a collision with <c2,CAM_FRONT,0.4406,0.4824>?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A cone bucket is positioned at the front of the ego vehicle, indicating a potential road barrier. A white truck is moving to the left in front of the ego vehicle. To the front right, a silver sedan is stationary. A black sedan car is moving ahead, while another black sedan is moving behind the ego vehicle. A red light is visible at the front, indicating a stop signal. The brightness may obscure some details, requiring careful attention to these objects and their positions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. Rain. D. Zoom blur",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.4880,0.5694> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white SUV moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back left of the ego vehicle, a pedestrian waiting for traffic lights to the front left of the ego vehicle, a white SUV to the front of the ego vehicle, a pink and white business car to the front left of the ego vehicle, and a traffic signal to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.2156,0.6963>, <c2,CAM_FRONT_LEFT,0.6594,0.6092>, <c3,CAM_FRONT,0.4880,0.5694>, <c4,CAM_FRONT_LEFT,0.5469,0.5602>, and <c5,CAM_FRONT,0.6235,0.4536>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.2156,0.6963> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,0.2156,0.6963> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,0.2156,0.6963> under bright conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_LEFT,0.2156,0.6963>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing some glare and reduced visibility. A black SUV is stationary to the back left of the ego vehicle. A pedestrian is waiting for the traffic lights to the front left. A white SUV is moving ahead to the front of the ego vehicle. A pink and white business car is stationary to the front left, and a traffic signal is visible to the front. The brightness affects the clarity of these objects, but their positions are <c1,CAM_BACK_LEFT,0.2156,0.6963>, <c2,CAM_FRONT_LEFT,0.6594,0.6092>, <c3,CAM_FRONT,0.4880,0.5694>, <c4,CAM_FRONT_LEFT,0.5469,0.5602>, and <c5,CAM_FRONT,0.6235,0.4536>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Bright. C. Fog. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_LEFT,0.7286,0.5870> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a man in a gray shirt, moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a man in a gray shirt to the back left of the ego vehicle, a gray sedan to the front of the ego vehicle, and a worker with a white hat to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.7286,0.5870>, <c2,CAM_FRONT,0.4308,0.5842>, and <c3,CAM_FRONT_RIGHT,0.4766,0.6917>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.7286,0.5870> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a pedestrian, specifically a man in a gray shirt.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that gray sedan at front camera. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Secondly, notice that worker with a white hat at right camera. The object is stationary, so the ego vehicle should maintain its current speed and continue going ahead. Thirdly, notice that man in a gray shirt at left rear camera. The object is turning left, so the ego vehicle should maintain its current speed and continue going ahead.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking, brake gently to a stop, and back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,0.7286,0.5870> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. To the back left, there is a pedestrian, a man in a gray shirt, moving at coordinates <c1,CAM_BACK_LEFT,0.7286,0.5870>. Ahead, a gray sedan is moving forward at coordinates <c2,CAM_FRONT,0.4308,0.5842>. To the front right, a stationary worker with a white hat is present at coordinates <c3,CAM_FRONT_RIGHT,0.4766,0.6917>. The road is lined with construction barriers, and trees are casting shadows, adding complexity to the driving conditions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Snow. C. Motion blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white SUV to the front of the ego vehicle, and a gray pickup truck to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6958,0.5908>, <c2,CAM_FRONT,0.1422,0.6417>, <c3,CAM_FRONT,0.9781,0.6694>, <c4,CAM_FRONT,0.7864,0.6047>, and <c5,CAM_FRONT_RIGHT,0.5803,0.6689>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6958,0.5908> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black car moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6958,0.5908> a traffic sign or a road barrier in the bright environment?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Accelerate and go ahead, keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6958,0.5908> under bright conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "782f9486adbd4546a492e69b6697ef70",
    "frame_token": "bd188cac93f042c1b685ff497b0150f8",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. The road is wet, indicating recent rain, and there are several vehicles around. A black car is moving behind the ego vehicle, while a black sedan and a white sedan are stationary in front. A white SUV is also stationary in front, and a gray pickup truck is parked to the front right. Buildings and trees line the street, with reflections visible on the wet road surface.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297560428113.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Bit error. C. H256 ABR compression. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what is the moving status of object <c2,CAM_FRONT_RIGHT,0.1432,0.6324>? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black sedan, and despite the brightness, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, what are the important objects in the current scene? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black car to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, and pedestrians on the road to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.1969,0.6908>, <c2,CAM_FRONT_RIGHT,0.1432,0.6324>, and <c3,CAM_FRONT,0.6500,0.6047>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "With the brightness affecting visibility, is <c1,CAM_FRONT,0.1969,0.6908> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a stationary black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "Given the bright conditions, what object should the ego vehicle notice first when approaching the next location? What is the state of the object first noticed by the ego vehicle, and what action should the ego vehicle take? What object should the ego vehicle notice second when approaching the next 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?",
    "answer": "Firstly, notice the black car at the front camera. It is stationary, so the ego vehicle should remain stationary. Secondly, notice the pedestrians on the road at the front camera. They are moving ahead, so the ego vehicle should remain stationary. Thirdly, notice the black sedan at the right camera. It is turning left, so the ego vehicle should remain stationary.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what actions could the ego vehicle take based on <c1,CAM_FRONT,0.1969,0.6908>? Why take this action and what's the probability?",
    "answer": "The action is to brake gently to a stop. The reason is to follow the traffic rules, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop; brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "70368a18644046f898ab836fc8a3c03f",
    "frame_token": "825d52c255ca46fc9ae7a7fc43d44816",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A stationary black car is positioned at the front (center x: 0.1969, center y: 0.6908). A moving black sedan is turning left at the front right (center x: 0.1432, center y: 0.6324). Pedestrians are moving ahead on the road (center x: 0.6500, center y: 0.6047). The environment includes tall buildings and construction barriers, with trees lining the road.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_BACK_RIGHT__1532401620427893.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Sensor failure. C. Snow. D. Rain",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.2219,0.6509> under brightness conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a silver pickup truck moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver pickup truck to the front of the ego vehicle, a white truck to the back of the ego vehicle, a black car to the front right of the ego vehicle, and a no entry sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2219,0.6509>, <c2,CAM_BACK,0.4698,0.5442>, <c3,CAM_FRONT_RIGHT,0.5511,0.5981>, and <c4,CAM_FRONT_RIGHT,0.2190,0.5181>. The brightness may obscure some details.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2219,0.6509> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver pickup truck, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2219,0.6509> considering the brightness?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2219,0.6509> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, with a high probability, despite the brightness.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting, making it challenging to discern details. A silver pickup truck is moving in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.2219,0.6509>. Behind the ego vehicle, a white truck is stationary at <c2,CAM_BACK,0.4698,0.5442>. To the front right, a black car is stationary at <c3,CAM_FRONT_RIGHT,0.5511,0.5981>, and a no entry sign is visible at <c4,CAM_FRONT_RIGHT,0.2190,0.5181>. The brightness may cause reflections and glare on the wet road surface.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Color quant. C. Bright. D. Snow",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_LEFT,0.8442,0.6028> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white business vehicle moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white business to the back left of the ego vehicle, a blue pants pedestrian to the back right of the ego vehicle, a black pickup truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.8442,0.6028>, <c2,CAM_BACK_RIGHT,0.2745,0.6889>, <c3,CAM_FRONT,0.2739,0.5537>, and <c4,CAM_FRONT,0.8313,0.4250>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.8442,0.6028> a traffic sign or a road barrier under the current brightness?",
    "answer": "No, Explanation: The object is a white business vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,0.8442,0.6028> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to turn right. The reason is that there is no safety issue, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making visibility challenging. To the back left of the ego vehicle, there is a white business vehicle moving, identified as <c1,CAM_BACK_LEFT,0.8442,0.6028>. A pedestrian wearing blue pants is moving to the back right, identified as <c2,CAM_BACK_RIGHT,0.2745,0.6889>. In front of the ego vehicle, there is a stationary black pickup truck, identified as <c3,CAM_FRONT,0.2739,0.5537>, and a stationary white truck, identified as <c4,CAM_FRONT,0.8313,0.4250>. The brightness affects the clarity of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Rain. C. Bright. D. Fog",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black motorhome to the front left of the ego vehicle, a black SUV to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a gray sedan to the front left of the ego vehicle, and a black pants pedestrian to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.7794,0.5197>, <c2,CAM_FRONT,0.2345,0.5451>, <c3,CAM_BACK,0.4109,0.6981>, <c4,CAM_FRONT_LEFT,0.5062,0.5722>, and <c5,CAM_FRONT_RIGHT,0.4542,0.5870>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.7794,0.5197> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black motorhome moving under bright conditions, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.7794,0.5197> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black motorhome, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.7794,0.5197> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the front left, there is a black motorhome moving, identified as <c1,CAM_FRONT_LEFT,0.7794,0.5197>. Directly in front, a black SUV is moving, identified as <c2,CAM_FRONT,0.2345,0.5451>. Behind the ego vehicle, a black sedan is moving, identified as <c3,CAM_BACK,0.4109,0.6981>. A gray sedan is stationary to the front left, identified as <c4,CAM_FRONT_LEFT,0.5062,0.5722>. Additionally, a pedestrian wearing black pants is moving to the front right, identified as <c5,CAM_FRONT_RIGHT,0.4542,0.5870>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Bright. C. Sensor failure. D. Rain",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a black SUV to the front left of the ego vehicle, a person riding a motorcycle to the front of the ego vehicle, and a white zebra crossing to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1594,0.5722>, <c2,CAM_FRONT_LEFT,0.9000,0.6481>, <c3,CAM_FRONT,0.2859,0.5917>, and <c4,CAM_BACK,0.3664,0.8046>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.1594,0.5722> under the brightness condition? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "C, Explanation: The object is a black car moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.1594,0.5722> a traffic sign or a road barrier under the brightness condition?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.1594,0.5722> considering the brightness distortion?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness distortion, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The scene is dimly lit due to brightness distortion, making it challenging to discern details. A black car is moving to the front right of the ego vehicle at coordinates <c1,CAM_FRONT_RIGHT,0.1594,0.5722>. A black SUV is positioned to the front left at <c2,CAM_FRONT_LEFT,0.9000,0.6481>. Directly ahead, a person is riding a motorcycle at <c3,CAM_FRONT,0.2859,0.5917>. Behind the ego vehicle, a white zebra crossing is visible at <c4,CAM_BACK,0.3664,0.8046>. The overall visibility is reduced, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Sensor failure. D. Saturate",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person riding a motorcycle to the front left of the ego vehicle, a red car to the front left of the ego vehicle, a brown SUV to the back of the ego vehicle, and a traffic light with a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.4523,0.6579>, <c2,CAM_FRONT_LEFT,0.3688,0.5333>, <c3,CAM_BACK,0.5073,0.6648>, and <c4,CAM_FRONT,0.5214,0.4412>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.4523,0.6579> under brightness conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a person riding a motorcycle, moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.4523,0.6579> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a person riding a motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.4523,0.6579> under brightness conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.4523,0.6579> under brightness conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by increased brightness, making it challenging to discern details. To the front left, a person is riding a motorcycle (<c1,CAM_FRONT_LEFT,0.4523,0.6579>). A red car is also visible in the same direction (<c2,CAM_FRONT_LEFT,0.3688,0.5333>). Behind the ego vehicle, a brown SUV is moving (<c3,CAM_BACK,0.5073,0.6648>). Ahead, a traffic light shows green (<c4,CAM_FRONT,0.5214,0.4412>). The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Saturate. C. Sensor failure. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.5880,0.5436> under brightness conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is an orange bus moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is an orange bus to the front right of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, a red car to the front of the ego vehicle, and a please pass to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.5880,0.5436>, <c2,CAM_BACK,0.4609,0.6092>, <c3,CAM_FRONT,0.8734,0.6519>, <c4,CAM_FRONT,0.2870,0.5852>, and <c5,CAM_FRONT,0.6968,0.4658>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.5880,0.5436> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is an orange bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.5880,0.5436> under brightness conditions?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking and maintain the current speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily affected by brightness, making it challenging to discern details. An orange bus is moving to the front right of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.5880,0.5436>. Behind the ego vehicle, a black commercial vehicle is moving, located at <c2,CAM_BACK,0.4609,0.6092>. Ahead, a silver sedan is moving at <c3,CAM_FRONT,0.8734,0.6519>, while a red car remains stationary at <c4,CAM_FRONT,0.2870,0.5852>. A 'please pass' sign is visible at <c5,CAM_FRONT,0.6968,0.4658>. The brightness affects the visibility of these objects, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Dark. D. Rain",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.2026,0.5380> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a black car moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front left of the ego vehicle, a black small car to the back left of the ego vehicle, and a white bicycle lane to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.2026,0.5380>, <c2,CAM_BACK_LEFT,0.3203,0.6186>, and <c3,CAM_FRONT_RIGHT,0.5057,0.7596>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.2026,0.5380> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice white bicycle lane at right camera. The object is a traffic sign, so the ego vehicle should turn right. Secondly notice black car at left camera. The object is turning left, so the ego vehicle should turn right. Thirdly notice black small car at left rear camera. The object is stationary, so the ego vehicle should turn right.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.2026,0.5380> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to turn right. The reason is to avoid a collision, which has a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the front left, there is a moving black car (<c1,CAM_FRONT_LEFT,0.2026,0.5380>). To the back left, a stationary black small car is present (<c2,CAM_BACK_LEFT,0.3203,0.6186>). A white bicycle lane is visible to the front right (<c3,CAM_FRONT_RIGHT,0.5057,0.7596>). The road appears wet, and the surroundings include buildings and trees, which are slightly obscured by the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Rain. D. Saturate",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.5052,0.5686> under the brightness condition? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black sedan moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under the brightness condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back of the ego vehicle, a white motorhome to the front right of the ego vehicle, a black sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6000,0.5491>, <c2,CAM_FRONT_RIGHT,0.4373,0.6236>, <c3,CAM_FRONT,0.5052,0.5686>, and <c4,CAM_FRONT,0.6431,0.5178>. The brightness may obscure some details.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6000,0.5491> a traffic sign or a road barrier under the brightness condition?",
    "answer": "No, Explanation: The object is a stationary white SUV, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6000,0.5491> under the brightness condition?",
    "answer": "No such action will lead to a collision. The brightness does not affect the stationary status of the white SUV.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6000,0.5491> under the brightness condition? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability, even under bright conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, which may obscure some details. To the back of the ego vehicle, there is a stationary white SUV (<c1,CAM_BACK,0.6000,0.5491>). To the front right, a white motorhome is stationary (<c2,CAM_FRONT_RIGHT,0.4373,0.6236>). Directly ahead, a black sedan is moving (<c3,CAM_FRONT,0.5052,0.5686>). A red light is visible in front of the ego vehicle (<c4,CAM_FRONT,0.6431,0.5178>). The brightness may cause reflections and glare, impacting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. JPEG compression. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a green bus to the back of the ego vehicle, a pedestrian in black pants to the front of the ego vehicle, a convex mirror to the front of the ego vehicle, and a red sign to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6231,0.6020>, <c2,CAM_FRONT,0.9000,0.5426>, <c3,CAM_FRONT,0.7492,0.5270>, and <c4,CAM_BACK_LEFT,0.2753,0.4953>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6231,0.6020> under brightness conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "B, Explanation: The object is a green bus moving under bright conditions, turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6231,0.6020> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a green bus, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6231,0.6020> under brightness conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. To the back of the ego vehicle, there is a green bus moving, identified as <c1,CAM_BACK,0.6231,0.6020>. In front, a pedestrian in black pants is walking, identified as <c2,CAM_FRONT,0.9000,0.5426>. A convex mirror is also visible in front, identified as <c3,CAM_FRONT,0.7492,0.5270>. To the back left, a red sign is present, identified as <c4,CAM_BACK_LEFT,0.2753,0.4953>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Bright. C. H256 ABR compression. D. JPEG compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.0674,0.4167> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck turning left, and the brightness does not affect its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0674,0.4167>, <c2,CAM_BACK,0.2672,0.5504>, and <c3,CAM_FRONT,0.7051,0.3099>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.0674,0.4167> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that green light at front camera. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that white truck at front camera. The object is turning left, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that white truck at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.0674,0.4167> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A white truck is moving in front of the ego vehicle, located at coordinates <c1,CAM_FRONT,0.0674,0.4167>. Another white truck is moving behind the ego vehicle at coordinates <c2,CAM_BACK,0.2672,0.5504>. A green traffic light is visible ahead at coordinates <c3,CAM_FRONT,0.7051,0.3099>. The brightness affects visibility, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Fog. C. Color quant. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a black SUV to the back of the ego vehicle, and a red and white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6031,0.5463>, <c2,CAM_FRONT,0.8245,0.5491>, <c3,CAM_BACK,0.2396,0.5398>, and <c4,CAM_FRONT,0.4468,0.5158>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.2396,0.5398> under the brightness condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a black SUV and it is moving, likely turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6031,0.5463> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6031,0.5463> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed; the reason is that the object has little reference value for the ego vehicle, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6031,0.5463> considering the brightness?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. To the back of the ego vehicle, there is a stationary white sedan car at coordinates <c1,CAM_BACK,0.6031,0.5463>. In front, there is another stationary white sedan at <c2,CAM_FRONT,0.8245,0.5491>. A moving black SUV is located at <c3,CAM_BACK,0.2396,0.5398>, and a red and white truck is stationary at <c4,CAM_FRONT,0.4468,0.5158>. The brightness affects the clarity of these objects, but they remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Bright. C. Sensor failure. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3636,0.5620> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a black sedan moving under bright conditions, which might affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the front of the ego vehicle, a white sedan car to the front of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3636,0.5620>, <c2,CAM_FRONT,0.2703,0.6000>, and <c3,CAM_FRONT_LEFT,0.7511,0.5972>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice black sedan at left camera, which is in a stationary state. The ego vehicle should continue moving forward at the same speed. Secondly, notice white sedan car at front camera, which is also in a stationary state. The ego vehicle should continue moving forward at the same speed. Thirdly, notice black sedan at front camera, which is moving forward. The ego vehicle should continue moving ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3636,0.5620> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3636,0.5620> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, which may reduce visibility. There is a black sedan moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3636,0.5620>. A stationary white sedan car is also in front of the ego vehicle at coordinates <c2,CAM_FRONT,0.2703,0.6000>. To the front left, there is another stationary black sedan at coordinates <c3,CAM_FRONT_LEFT,0.7511,0.5972>. The road appears wet, indicating possible rain, and buildings line the street, adding to the complexity of the driving environment.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. JPEG compression. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3677,0.5519> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "B, Explanation: The object is a white SUV turning left, and the bright conditions do not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a white SUV to the front of the ego vehicle, a white SUV to the back of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3677,0.5519>, <c2,CAM_BACK,0.5437,0.5481>, and <c3,CAM_FRONT,0.2986,0.5624>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when approaching the next location under bright conditions? What is the state of the object first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when approaching the next 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?",
    "answer": "Firstly notice that white SUV at back camera. The object is going ahead, so the ego vehicle should slow down and go ahead. Secondly, notice that white SUV at front camera. The object is turning left, so the ego vehicle should slow down and go ahead. Thirdly, notice that white sedan at front camera. The object is turning left, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3677,0.5519> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, and the bright conditions do not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3677,0.5519> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, and turn left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, which may cause glare and affect visibility. The road is lined with construction barriers on both sides, and there are several vehicles present. A white SUV is moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3677,0.5519>. Another white SUV is behind the ego vehicle at <c2,CAM_BACK,0.5437,0.5481>. Additionally, a white sedan is also in front of the ego vehicle at <c3,CAM_FRONT,0.2986,0.5624>. The bright conditions may require the ego vehicle to adjust its sensors for optimal performance.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Fog. C. Zoom blur. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5630,0.5806> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a yellow sedan moving ahead, despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow sedan to the front of the ego vehicle, a man wearing light blue jeans to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, and a white van to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5630,0.5806>, <c2,CAM_FRONT,0.7333,0.5797>, <c3,CAM_BACK,0.4391,0.5556>, and <c4,CAM_BACK,0.5081,0.5452>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5630,0.5806> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a yellow sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5630,0.5806> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason is to maintain a safe distance, which is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking, keep going at the same speed, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is bright, affecting visibility slightly. In front, there is a yellow sedan moving ahead at coordinates <c1,CAM_FRONT,0.5630,0.5806>. A stationary man wearing light blue jeans is also in front at <c2,CAM_FRONT,0.7333,0.5797>. Behind, a gray sedan is stationary at <c3,CAM_BACK,0.4391,0.5556>, and a white van is moving at <c4,CAM_BACK,0.5081,0.5452>. The environment includes residential buildings and trees lining the street.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Sensor failure. C. Bright. D. H256 ABR compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.6776,0.6009> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a blue car turning right, and the brightness does not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue car to the front of the ego vehicle, a silver sedan to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6776,0.6009>, <c2,CAM_FRONT,0.8766,0.6148>, and <c3,CAM_BACK,0.5016,0.6000>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.6776,0.6009> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that blue car at front camera. The object is turning right, so the ego vehicle should keep going ahead at the same speed. Secondly notice that silver sedan at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that white sedan at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6776,0.6009> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, brake gently to a stop, decelerate gradually without braking, slightly offset to the right, change to the right lane, turn left, or turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. The road is straight with trees lining both sides. A blue car is moving ahead and turning right at coordinates <c1,CAM_FRONT,0.6776,0.6009>. A silver sedan is also moving ahead at coordinates <c2,CAM_FRONT,0.8766,0.6148>. Behind the ego vehicle, a white sedan is moving forward at coordinates <c3,CAM_BACK,0.5016,0.6000>. The brightness makes the scene appear washed out, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Zoom blur. C. JPEG compression. D. Sensor failure",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3833,0.5463> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan turning left, and the brightness does not affect its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the front of the ego vehicle, a white SUV to the back of the ego vehicle, and a parking sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3833,0.5463>, <c2,CAM_BACK,0.5052,0.5806>, and <c3,CAM_FRONT,0.4021,0.5238>. The brightness does not obscure these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3833,0.5463> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that parking sign at front camera; the object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly notice that gray sedan at front camera; the object is turning left, so the ego vehicle should continue ahead at the same speed. Thirdly notice that white SUV at back camera; the object is going ahead, so the ego vehicle should continue ahead at the same speed. Brightness does not alter the sequence of noticing these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3833,0.5463> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability of taking this action is high, and brightness does not impact this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3833,0.5463> under bright conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,0.3833,0.5463>. Brightness does not increase the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making the environment appear washed out. A gray sedan is moving in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3833,0.5463>. Behind the ego vehicle, a white SUV is also moving at coordinates <c2,CAM_BACK,0.5052,0.5806>. A parking sign is visible in front of the ego vehicle at coordinates <c3,CAM_FRONT,0.4021,0.5238>. Despite the brightness, these key objects remain identifiable, and the road is clear with no immediate obstacles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Snow. C. Bit error. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.5261,0.6639> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan turning right, and the brightness does not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5312,0.5686>, <c2,CAM_FRONT,0.5261,0.6639>, and <c3,CAM_FRONT_RIGHT,0.2531,0.7898>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.5312,0.5686> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that black sedan at front camera. The object is turning right, so the ego vehicle should decelerate gradually until it comes to a stop. Secondly notice that red car at right camera. The object is stationary, so the ego vehicle should decelerate gradually until it comes to a stop. Thirdly notice that silver sedan at left camera. The object is stationary, so the ego vehicle should decelerate gradually until it comes to a stop.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5312,0.5686> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to brake gently to a stop because there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop or continue at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright lighting conditions, making it challenging to discern details. A silver sedan is stationary to the front left of the ego vehicle at coordinates <c1,CAM_FRONT_LEFT,0.5312,0.5686>. Directly in front, a black sedan is moving, turning right at coordinates <c2,CAM_FRONT,0.5261,0.6639>. To the front right, a red car is stationary at coordinates <c3,CAM_FRONT_RIGHT,0.2531,0.7898>. The brightness may cause glare, affecting visibility of these vehicles and surrounding elements.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Sensor failure. C. Color quant. D. Zoom blur",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is an orange-red bus to the front of the ego vehicle, a pedestrian wearing a green shirt to the front left of the ego vehicle, and a black small car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2323,0.4722>, <c2,CAM_FRONT_LEFT,0.3047,0.7028>, and <c3,CAM_FRONT_RIGHT,0.5849,0.5852>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.2323,0.4722> under brightness distortion? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is an orange-red bus, and despite the brightness distortion, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under brightness distortion? 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?",
    "answer": "Firstly, notice pedestrian wearing a green shirt at left camera. It is going ahead, so the ego vehicle should turn left. Secondly, notice orange-red bus at front camera. It is turning left, so the ego vehicle should turn left. Thirdly, notice black small car at right camera. It is turning left, so the ego vehicle should turn left.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2323,0.4722> a traffic sign or a road barrier under brightness distortion?",
    "answer": "No, Explanation: The object is an orange-red bus, not a traffic sign or road barrier, despite the brightness distortion.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2323,0.4722> under brightness distortion?",
    "answer": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2323,0.4722>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness distortion, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, decelerate gradually without braking, and continue at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness distortion, making it challenging to perceive details clearly. An orange-red bus is moving in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.2323,0.4722>. To the front left, a pedestrian wearing a green shirt is walking, located at <c2,CAM_FRONT_LEFT,0.3047,0.7028>. On the front right, a black small car is moving, positioned at <c3,CAM_FRONT_RIGHT,0.5849,0.5852>. The overall environment appears dim, with streetlights and vehicle headlights contributing to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Dark. C. Bright. D. Motion blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the front of the ego vehicle, a gray-green sedan to the back left of the ego vehicle, a man wearing khaki pants to the front right of the ego vehicle, a light gray sedan to the back of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2984,0.5991>, <c2,CAM_BACK_LEFT,0.3016,0.7287>, <c3,CAM_FRONT_RIGHT,0.0000,0.7278>, <c4,CAM_BACK,0.4797,0.7297>, and <c5,CAM_FRONT,0.6315,0.4329>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.2984,0.5991> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "C, Explanation: The object is a gray sedan moving under bright conditions, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2984,0.5991> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2984,0.5991> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep stationary, the reason is to follow the traffic rules, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK_LEFT,0.3016,0.7287> under bright conditions?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "9e7d5adad1514dd79292e9318b7a443c",
    "frame_token": "71eb8dbcd81c4844b81e4e40d7c3a017",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A gray sedan is moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.2984,0.5991>. To the back left, a gray-green sedan is stationary at <c2,CAM_BACK_LEFT,0.3016,0.7287>. A man wearing khaki pants is moving to the front right at <c3,CAM_FRONT_RIGHT,0.0000,0.7278>. Behind the ego vehicle, a light gray sedan is stationary at <c4,CAM_BACK,0.4797,0.7297>. A red light is visible in front at <c5,CAM_FRONT,0.6315,0.4329>. The brightness may cause glare, impacting object detection and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708377028113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Bright. C. H256 ABR compression. D. Bit error",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person in a gray shirt to the back of the ego vehicle, a silver sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a black sedan to the back of the ego vehicle, and a white SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.0477,0.6563>, <c2,CAM_FRONT,0.3266,0.6269>, <c3,CAM_BACK,0.7599,0.6361>, <c4,CAM_BACK,0.5114,0.6564>, and <c5,CAM_FRONT_LEFT,0.2415,0.6039>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.3266,0.6269> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a silver sedan moving ahead, unaffected by brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.0477,0.6563> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.0477,0.6563> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,0.3266,0.6269> under bright conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "fd2d419d4cf84a2d84922b9b7d2cea4d",
    "frame_token": "3c8a9403f85d4620abc3a64e0a235c7b",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. A person in a gray shirt is stationary at the back of the ego vehicle. A silver sedan is moving ahead in front of the ego vehicle. To the back, there are two moving vehicles: a white sedan and a black sedan. On the front left, a white SUV is also moving. The brightness may cause glare, but the objects are still identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_BACK_RIGHT__1535731384778113.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Sensor failure. C. Fog. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness distortion? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back right of the ego vehicle, an unknown object to the back of the ego vehicle, and an unable to confirm object to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.2062,0.6269>, <c2,CAM_BACK,0.4224,0.5158>, and <c3,CAM_BACK,0.3073,0.5842>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_RIGHT,0.2062,0.6269> under brightness distortion? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a white SUV, and despite the brightness distortion, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "Considering the brightness distortion, what object should the ego vehicle notice first when approaching the next possible location? 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 approaching 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?",
    "answer": "Firstly, notice the white SUV at the right rear camera. The object is turning left, so the ego vehicle should continue ahead at the same speed. Secondly, notice the unable to confirm object at the back camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice the unknown object at the back camera. The object is stationary, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.2062,0.6269> a traffic sign or a road barrier under brightness distortion?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even under brightness distortion.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.2062,0.6269> considering brightness distortion? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness distortion, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness distortion. Include both general description and key objects and their positions.",
    "answer": "The environment is affected by brightness distortion, making it challenging to perceive details. A white SUV is moving to the back right of the ego vehicle, located at coordinates <c1,CAM_BACK_RIGHT,0.2062,0.6269>. An unknown object is stationary at the back of the ego vehicle, positioned at <c2,CAM_BACK,0.4224,0.5158>. Another object, unable to confirm, is moving at the back, located at <c3,CAM_BACK,0.3073,0.5842>. The road is dimly lit, with surrounding trees casting shadows, and the visibility is reduced due to the brightness distortion.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Color quant. C. Bright. D. Fog",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a man with a red hat to the front left of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3428,0.6324>, <c2,CAM_FRONT,0.0479,0.5620>, <c3,CAM_BACK,0.5339,0.6519>, <c4,CAM_FRONT_LEFT,0.8521,0.5908>, and <c5,CAM_FRONT,0.9144,0.4198>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3428,0.6324> under brightness conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a gray sedan moving under bright conditions, which might affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3428,0.6324> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3428,0.6324> under brightness conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking, turn left, turn right, slightly offset to the left, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive objects clearly. A gray sedan is moving in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3428,0.6324>. A stationary white sedan is also in front at <c2,CAM_FRONT,0.0479,0.5620>. Behind the ego vehicle, another white sedan is moving at <c3,CAM_BACK,0.5339,0.6519>. To the front left, a man with a red hat is moving at <c4,CAM_FRONT_LEFT,0.8521,0.5908>. Additionally, a green light is visible at <c5,CAM_FRONT,0.9144,0.4198>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Fog. C. Zoom blur. D. Color quant",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan car to the front of the ego vehicle, a white sedan car to the front left of the ego vehicle, a white sedan to the back of the ego vehicle, a worker wearing a yellow safety helmet to the front left of the ego vehicle, a green light to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3398,0.6278>, <c2,CAM_FRONT_LEFT,0.9563,0.5648>, <c3,CAM_BACK,0.5901,0.6539>, <c4,CAM_FRONT_LEFT,0.7651,0.5963>, <c5,CAM_FRONT_RIGHT,0.1835,0.4091>, and <c6,CAM_FRONT,0.7141,0.3758>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3398,0.6278> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan car moving under bright conditions, which may affect visibility but does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3398,0.6278> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a gray sedan car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right, and slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3398,0.6278> considering the brightness? Why take this action and what's the probability?",
    "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, even with brightness affecting visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. A gray sedan car is moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.3398,0.6278>. To the front left, a white sedan car is stationary at <c2,CAM_FRONT_LEFT,0.9563,0.5648>. Behind, another white sedan is moving at <c3,CAM_BACK,0.5901,0.6539>. A worker wearing a yellow safety helmet is moving to the front left at <c4,CAM_FRONT_LEFT,0.7651,0.5963>. Green lights are visible to the front right and front at <c5,CAM_FRONT_RIGHT,0.1835,0.4091> and <c6,CAM_FRONT,0.7141,0.3758>, respectively. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Snow. C. Bright. D. Zoom blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.7636,0.6019> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white sedan car moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the front of the ego vehicle, a white sedan to the back of the ego vehicle, a blue SUV to the front right of the ego vehicle, a black SUV to the front of the ego vehicle, a black pickup truck to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7636,0.6019>, <c2,CAM_BACK,0.1432,0.7111>, <c3,CAM_FRONT_RIGHT,0.5800,0.6640>, <c4,CAM_FRONT,0.5911,0.5537>, <c5,CAM_FRONT_LEFT,0.5479,0.7472>, and <c6,CAM_FRONT,0.6088,0.2931>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7636,0.6019> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.7636,0.6019> under bright conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop and brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. To the front of the ego vehicle, there is a white sedan car moving left at coordinates (0.7636, 0.6019). A stationary white sedan is positioned at the back at (0.1432, 0.7111). A blue SUV is stationary to the front right at (0.5800, 0.6640), while a black SUV is moving ahead at (0.5911, 0.5537). A black pickup truck is moving to the front left at (0.5479, 0.7472). A red light is visible at the front at (0.6088, 0.2931). The bright conditions may cause glare, affecting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Rain. C. Bright. D. Snow",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what is the moving status of object <c1,CAM_FRONT,0.4573,0.5769>? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: the object is moving and turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is an orange to the front of the ego vehicle, a blue to the back of the ego vehicle, a purple to the front of the ego vehicle, a pink to the front left of the ego vehicle, and a brown to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4573,0.5769>, <c2,CAM_BACK,0.5792,0.5944>, <c3,CAM_FRONT,0.3636,0.5713>, <c4,CAM_FRONT_LEFT,0.9029,0.4947>, and <c5,CAM_BACK,0.8566,0.4954>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "With the brightness affecting visibility, is <c1,CAM_FRONT,0.4573,0.5769> a traffic sign or a road barrier?",
    "answer": "No, Explanation: the object is not a traffic sign or road barrier; it is categorized as 'Others'.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Change to the right lane, keep going at the same speed, decelerate gradually without braking, slightly offset to the right, and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what actions could the ego vehicle take based on <c1,CAM_FRONT,0.4573,0.5769>? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "c075fbdd97124beaba95bc5c25149f30",
    "frame_token": "007cbcb1390c440fb48baf3478d1b529",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making visibility challenging. To the front of the ego vehicle, there is an orange object moving, located at coordinates <c1,CAM_FRONT,0.4573,0.5769>. Behind the vehicle, a blue object is also moving at <c2,CAM_BACK,0.5792,0.5944>. A stationary purple object is positioned at the front at <c3,CAM_FRONT,0.3636,0.5713>. To the front left, a stationary pink object is visible at <c4,CAM_FRONT_LEFT,0.9029,0.4947>, and a moving brown object is at the back at <c5,CAM_BACK,0.8566,0.4954>. The environment includes a road with surrounding buildings and greenery, but the brightness makes it difficult to discern finer details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884538377893.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Bright. C. Snow. D. Sensor failure",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4651,0.5120> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, an orange truck to the back of the ego vehicle, a red truck to the back of the ego vehicle, a white SUV to the back 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,0.4651,0.5120>, <c2,CAM_BACK,0.5958,0.5306>, <c3,CAM_BACK,0.5261,0.5333>, <c4,CAM_BACK,0.4948,0.5436>, and <c5,CAM_FRONT_RIGHT,0.1729,0.6352>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4651,0.5120> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4651,0.5120> under bright conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, which may cause glare and affect visibility. The scene includes a white truck moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.4651,0.5120>. Behind the ego vehicle, there is an orange truck at <c2,CAM_BACK,0.5958,0.5306> and a red truck at <c3,CAM_BACK,0.5261,0.5333>. A stationary white SUV is also behind at <c4,CAM_BACK,0.4948,0.5436>. To the front right, a black sedan is stationary at <c5,CAM_FRONT_RIGHT,0.1729,0.6352>. The bright conditions may obscure some details of these vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Dark. C. Saturate. D. Fog",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.1626,0.7806> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black sedan moving to the left, and the brightness does not affect its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a black sedan to the back of the ego vehicle, a man in a green shirt to the front left of the ego vehicle, a black SUV to the back of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.1626,0.7806>, <c2,CAM_FRONT_LEFT,0.6646,0.5009>, <c3,CAM_BACK,0.5766,0.6564>, and <c4,CAM_FRONT,0.5729,0.5917>. The brightness may obscure some details but the objects remain identifiable.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.1626,0.7806> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, and the brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "In this scenario with increased brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The brightness requires careful monitoring of the surroundings.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.1626,0.7806> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high. The brightness does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, which may cause some glare and reduce visibility of distant objects. Key objects include a black sedan moving to the left at the back of the ego vehicle (<c1,CAM_BACK,0.1626,0.7806>), a man in a green shirt walking to the front left (<c2,CAM_FRONT_LEFT,0.6646,0.5009>), a black SUV moving at the back (<c3,CAM_BACK,0.5766,0.6564>), and another black sedan moving ahead (<c4,CAM_FRONT,0.5729,0.5917>). The brightness affects the clarity of these objects but they remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. H256 ABR compression. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the back right of the ego vehicle, a green bus to the back of the ego vehicle, and a left turn landmark line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.3547,0.7130>, <c2,CAM_BACK,0.1886,0.6361>, and <c3,CAM_FRONT,0.5000,0.9194>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.1886,0.6361> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a green bus, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice left turn landmark line at front camera. It is a traffic sign, so the ego vehicle should slow down and continue ahead. Secondly, notice gray sedan at right rear camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice green bus at back camera. It is turning left, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.3547,0.7130> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray sedan, which is a vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,0.1886,0.6361> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.3547,0.7130> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "c7b8d96173bf41dc8df8c0d16adfc71e",
    "frame_token": "c221e48870e14532a876b0d01bab9f35",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, which may cause glare and affect visibility. The ego vehicle is positioned on a road with a left turn landmark line visible in front. To the back right, there is a stationary gray sedan, and directly behind, a green bus is turning left. The environment includes trees and buildings, with the brightness potentially obscuring some details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985165627893.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. JPEG compression. C. Bit error. D. Color quant",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.0261,0.5981> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "B, Explanation: The object is a red small car that is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white small car to the front of the ego vehicle, a red small car to the front right of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6739,0.5750>, <c2,CAM_FRONT_RIGHT,0.0261,0.5981>, and <c3,CAM_FRONT,0.5239,0.3076>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that red light at front camera. The object is a traffic sign and the ego vehicle should stop. Secondly, notice that white small car at front camera. The object is stationary and the ego vehicle should stop. Thirdly, notice that red small car at right camera. The object is turning left and the ego vehicle should stop.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.6739,0.5750> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6739,0.5750> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is to follow traffic rules. The probability of this action is low.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6739,0.5750> under bright conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. A white small car is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.6739,0.5750>. To the front right, a red small car is moving, turning left at coordinates <c2,CAM_FRONT_RIGHT,0.0261,0.5981>. A red traffic light is visible in front of the ego vehicle at coordinates <c3,CAM_FRONT,0.5239,0.3076>. The brightness affects visibility, but key objects are still identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Fog. C. Bright. D. Snow",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a white sedan to the front of the ego vehicle, a gray sedan to the front of the ego vehicle, a black sedan car to the front of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5839,0.7259>, <c2,CAM_FRONT,0.4651,0.5658>, <c3,CAM_FRONT,0.0875,0.7620>, <c4,CAM_FRONT,0.6292,0.5556>, and <c5,CAM_FRONT,0.4743,0.3944>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.4651,0.5658> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a white sedan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5839,0.7259> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, and brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5839,0.7259> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. The ego vehicle is surrounded by several vehicles: a black SUV is stationary behind it, a white sedan is moving ahead, and a gray sedan is stationary in front. A black sedan car is also moving ahead in front of the ego vehicle. A traffic light is positioned ahead, which is crucial for navigation. The brightness affects the visibility of these objects, but their positions are noted as <c1,CAM_BACK,0.5839,0.7259>, <c2,CAM_FRONT,0.4651,0.5658>, <c3,CAM_FRONT,0.0875,0.7620>, <c4,CAM_FRONT,0.6292,0.5556>, and <c5,CAM_FRONT,0.4743,0.3944>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Motion blur. C. Fog. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue and white truck to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, and a black traffic light to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5113,0.5570>, <c2,CAM_BACK,0.1958,0.5824>, <c3,CAM_BACK,0.5583,0.5926>, and <c4,CAM_FRONT_RIGHT,0.5034,0.5279>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.1958,0.5824> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan moving under bright conditions, making it appear as if it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5113,0.5570> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a blue and white truck, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5113,0.5570> under brightness conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, affecting visibility. To the front, there is a stationary blue and white truck (<c1,CAM_FRONT,0.5113,0.5570>). Behind the ego vehicle, a black sedan (<c2,CAM_BACK,0.1958,0.5824>) and a blue sedan (<c3,CAM_BACK,0.5583,0.5926>) are moving. To the front right, a black traffic light (<c4,CAM_FRONT_RIGHT,0.5034,0.5279>) is visible. The brightness may cause glare, impacting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Bright. C. JPEG compression. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4286,0.5528> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a white truck moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a pedestrian wearing gray clothes to the back right of the ego vehicle, a white truck to the back of the ego vehicle, a black sedan car 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_BACK,0.4286,0.5528>, <c2,CAM_FRONT_RIGHT,0.5984,0.4926>, <c3,CAM_BACK_RIGHT,0.7542,0.6436>, <c4,CAM_BACK,0.2729,0.5574>, <c5,CAM_FRONT,0.2068,0.5898>, and <c6,CAM_FRONT,0.6416,0.2276>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4286,0.5528> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4286,0.5528> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is bright, affecting visibility slightly. There is a white truck moving to the right at the back of the ego vehicle (<c1,CAM_BACK,0.4286,0.5528>). A stationary white truck is positioned to the front right (<c2,CAM_FRONT_RIGHT,0.5984,0.4926>). A pedestrian wearing gray clothes is moving at the back right (<c3,CAM_BACK_RIGHT,0.7542,0.6436>). Another stationary white truck is at the back (<c4,CAM_BACK,0.2729,0.5574>). A black sedan car is moving ahead of the ego vehicle (<c5,CAM_FRONT,0.2068,0.5898>), and a green light is visible at the front (<c6,CAM_FRONT,0.6416,0.2276>). The brightness may cause glare, making it challenging to discern details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bit error. C. Bright. D. Motion blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front of the ego vehicle, a cannot see clearly to the front of the ego vehicle, a white sedan to the back of the ego vehicle, and a white business to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.9948,0.7186>, <c2,CAM_FRONT,0.4641,0.5797>, <c3,CAM_BACK,0.6094,0.5694>, and <c4,CAM_FRONT_LEFT,0.7396,0.5694>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.9948,0.7186> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black car moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.9948,0.7186> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.9948,0.7186> considering the brightness?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.9948,0.7186> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn right because there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A black car is moving ahead in the front camera view at coordinates (0.9948, 0.7186). A white sedan is moving in the back camera view at coordinates (0.6094, 0.5694). A white business vehicle is moving in the front left camera view at coordinates (0.7396, 0.5694). Some objects are not clearly visible due to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. H256 ABR compression. C. Bright. D. Zoom blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front of the ego vehicle, a black car to the front of the ego vehicle, a white sedan car to the back of the ego vehicle, and a traffic light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5271,0.5620>, <c2,CAM_FRONT,0.4313,0.6380>, <c3,CAM_BACK,0.7120,0.5870>, and <c4,CAM_FRONT,0.2077,0.3447>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5271,0.5620> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a white sedan moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5271,0.5620> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5271,0.5620> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue, even under bright conditions. The probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, considering the bright conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A white sedan is moving in front of the ego vehicle at coordinates (0.5271, 0.5620), and a black car is also in front at (0.4313, 0.6380). Behind the ego vehicle, a white sedan car is moving at (0.7120, 0.5870). A traffic light is visible in front at (0.2077, 0.3447). The brightness may cause glare, impacting the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Bright. C. Sensor failure. D. JPEG compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue sedan to the back of the ego vehicle, a pedestrian on the roadside to the front of the ego vehicle, and an orange bicycle to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8917,0.5787>, <c2,CAM_FRONT,0.1386,0.5481>, and <c3,CAM_FRONT_RIGHT,0.1594,0.6574>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.8917,0.5787> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a blue sedan, and despite the brightness, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8917,0.5787> a traffic sign or a road barrier in the bright scene?",
    "answer": "No, Explanation: The object is a blue sedan, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice orange bicycle at right camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice blue sedan at back camera. It is turning left, so the ego vehicle should continue ahead at the same speed. Thirdly, notice pedestrian on the roadside at front camera. It is turning right, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.8917,0.5787> in bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "d90b94e8bfd446cd9407f48665122268",
    "frame_token": "786371ca58704994aa3c3e6ca593ee92",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, making it challenging to discern details. To the back of the ego vehicle, there is a blue sedan moving, located at coordinates <c1,CAM_BACK,0.8917,0.5787>. In front, a pedestrian is walking along the roadside, positioned at <c2,CAM_FRONT,0.1386,0.5481>. To the front right, an orange bicycle is stationary at <c3,CAM_FRONT_RIGHT,0.1594,0.6574>. The brightness affects visibility, but the key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_BACK_RIGHT__1533113026377893.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Zoom blur. C. Color quant. D. Motion blur",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black small car to the front of the ego vehicle, a pedestrian wearing black clothes to the front right of the ego vehicle, a white line to the front of the ego vehicle, and a white line to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3812,0.5528>, <c2,CAM_FRONT_RIGHT,0.5308,0.5722>, <c3,CAM_FRONT,0.3783,0.6051>, and <c4,CAM_FRONT,0.2835,0.6070>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3812,0.5528> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "C, Explanation: The object is a black small car moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3812,0.5528> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3812,0.5528> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, which is highly probable.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, change to the left lane, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A black small car is moving ahead in the front view, positioned at coordinates <c1,CAM_FRONT,0.3812,0.5528>. A pedestrian wearing black clothes is visible to the front right, located at <c2,CAM_FRONT_RIGHT,0.5308,0.5722>. Two white lines are present in the front view, at coordinates <c3,CAM_FRONT,0.3783,0.6051> and <c4,CAM_FRONT,0.2835,0.6070>. The road is clear, and the surroundings include trees and buildings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. JPEG compression. C. Dark. D. Rain",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front right of the ego vehicle, a black SUV to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.7531,0.5889>, <c2,CAM_FRONT,0.2036,0.5953>, and <c3,CAM_BACK,0.7120,0.6287>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.7531,0.5889> under brightness corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "C, Explanation: The object is a white sedan moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under brightness 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?",
    "answer": "Firstly notice black SUV at front camera. It is going ahead, so the ego vehicle should turn left. Secondly notice white sedan at right camera. It is turning right, so the ego vehicle should turn left. Thirdly notice black sedan at back camera. It is going ahead, so the ego vehicle should turn left.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.7531,0.5889> a traffic sign or a road barrier under brightness corruption?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.7531,0.5889> under brightness corruption?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,0.7531,0.5889>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, decelerate gradually without braking, are safe actions to take for the ego vehicle in this scenario.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive details. A white sedan is moving to the front right of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.7531,0.5889>. A black SUV is directly in front of the ego vehicle at <c2,CAM_FRONT,0.2036,0.5953>. Behind the ego vehicle, a black sedan is moving, located at <c3,CAM_BACK,0.7120,0.6287>. The road is illuminated by streetlights, and the environment appears slightly overexposed due to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Rain. C. JPEG compression. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back of the ego vehicle, a bicycle to the front of the ego vehicle, and a road is relatively empty to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5583,0.5463>, <c2,CAM_FRONT,0.3786,0.6222>, and <c3,CAM_FRONT,0.5937,0.6243>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5583,0.5463> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a white SUV, and it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5583,0.5463> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice bicycle at front camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice a road is relatively empty at front camera. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice white SUV at back camera. It is turning right, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5583,0.5463> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, making it challenging to discern some details. To the back of the ego vehicle, there is a white SUV moving, located at coordinates <c1,CAM_BACK,0.5583,0.5463>. In front of the ego vehicle, a stationary bicycle is positioned at <c2,CAM_FRONT,0.3786,0.6222>. The road ahead is relatively empty, as noted at <c3,CAM_FRONT,0.5937,0.6243>. The brightness affects visibility, but the scene remains navigable with caution.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Motion blur. C. Bright. D. Rain",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.9859,0.7139> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a white van moving to the right, and the brightness does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white van to the front of the ego vehicle, a white SUV to the front of the ego vehicle, a black car to the back of the ego vehicle, a white bus to the back of the ego vehicle, and a white truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.9859,0.7139>, <c2,CAM_FRONT,0.1886,0.5803>, <c3,CAM_BACK,0.5339,0.5861>, <c4,CAM_BACK,0.4161,0.5370>, and <c5,CAM_BACK_LEFT,0.8808,0.4547>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.9859,0.7139> a traffic sign or a road barrier in bright conditions?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.9859,0.7139> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to perceive details. A white van is moving to the right in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.9859,0.7139>. A stationary white SUV is also in front at <c2,CAM_FRONT,0.1886,0.5803>. Behind the ego vehicle, a black car is moving at <c3,CAM_BACK,0.5339,0.5861>, while a white bus is stationary at <c4,CAM_BACK,0.4161,0.5370>. To the back left, a white truck is stationary at <c5,CAM_BACK_LEFT,0.8808,0.4547>. The brightness impacts visibility, requiring careful attention to these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Bright. C. H256 ABR compression. D. Sensor failure",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the back of the ego vehicle, a gray sedan to the back of the ego vehicle, and a yellow construction vehicle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8859,0.5944>, <c2,CAM_BACK,0.4610,0.5841>, and <c3,CAM_FRONT_LEFT,0.4016,0.5194>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.4610,0.5841> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "C, Explanation: The object is a gray sedan moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8859,0.5944> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that yellow construction vehicle at left camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that black sedan at back 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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.8859,0.5944> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,0.4610,0.5841> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "9056ac9944e846109b00e31cc96259cb",
    "frame_token": "744b7aa2a40f4f0b943d0320d4b5c1a4",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. To the back of the ego vehicle, there is a black sedan (coordinate: <c1,CAM_BACK,0.8859,0.5944>) and a gray sedan (coordinate: <c2,CAM_BACK,0.4610,0.5841>). To the front left, there is a stationary yellow construction vehicle (coordinate: <c3,CAM_FRONT_LEFT,0.4016,0.5194>). The environment includes a mix of urban elements such as buildings and trees, with the brightness affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385060178113.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Color quant. C. Bright. D. Saturate",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a gray sedan to the back of the ego vehicle, a white sedan to the back left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4745,0.6686>, <c2,CAM_BACK,0.7167,0.6374>, <c3,CAM_BACK_LEFT,0.5437,0.7009>, <c4,CAM_FRONT,0.5016,0.5972>, and <c5,CAM_FRONT,0.5612,0.3639>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c4,CAM_FRONT,0.5016,0.5972> under the bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black sedan moving ahead, unaffected by the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4745,0.6686> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4745,0.6686> considering the brightness?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "1319a9c0288f4ff9ae32d3f33b3bae17",
    "frame_token": "8bd5aa0baee94145bb20b13f43dbc1f3",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A black car is stationary at the back of the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.4745,0.6686>. A gray sedan is also stationary at the back, located at <c2,CAM_BACK,0.7167,0.6374>. To the back left, a white sedan is stationary at <c3,CAM_BACK_LEFT,0.5437,0.7009>. Ahead, a black sedan is moving forward at <c4,CAM_FRONT,0.5016,0.5972>, and a red traffic light is visible at <c5,CAM_FRONT,0.5612,0.3639>. The brightness affects visibility, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845294777893.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Snow. C. Dark. D. JPEG compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver pickup truck to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, a blue and white checkered clothes pedestrians to the front right of the ego vehicle, and a red light to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4078,0.6083>, <c2,CAM_FRONT_LEFT,0.5547,0.7917>, <c3,CAM_FRONT_RIGHT,0.5094,0.6111>, and <c4,CAM_BACK,0.6889,0.3447>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4078,0.6083> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a silver pickup truck moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4078,0.6083> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a silver pickup truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4078,0.6083> under brightness conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive objects clearly. A silver pickup truck is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.4078,0.6083>. To the front left, a black SUV is stationary at <c2,CAM_FRONT_LEFT,0.5547,0.7917>. Pedestrians in blue and white checkered clothes are moving to the front right at <c3,CAM_FRONT_RIGHT,0.5094,0.6111>. A red light is visible at the back at <c4,CAM_BACK,0.6889,0.3447>. The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Saturate. C. Fog. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.3783,0.5889> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a silver truck that is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver truck to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a woman wearing blue jeans to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.3783,0.5889>, <c2,CAM_FRONT,0.3901,0.6991>, and <c3,CAM_FRONT_RIGHT,0.4562,0.7824>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice a woman wearing blue jeans at right camera. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Secondly, notice black sedan at front camera. The object is stationary, so the ego vehicle should slow down and continue going ahead. Thirdly, notice silver truck at back camera. The object is going ahead, so the ego vehicle should turn right.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.3783,0.5889> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.3783,0.5889> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking because there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.3783,0.5889> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility slightly. To the back of the ego vehicle, there is a silver truck moving, located at coordinates <c1,CAM_BACK,0.3783,0.5889>. In front, a black sedan is stationary at <c2,CAM_FRONT,0.3901,0.6991>. To the front right, a woman wearing blue jeans is walking, positioned at <c3,CAM_FRONT_RIGHT,0.4562,0.7824>. The environment includes urban structures and a bridge, with pedestrians visible on the sidewalks.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Rain. C. JPEG compression. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.8583,0.4000> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a white truck, and despite the brightness, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the back of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan car to the back left of the ego vehicle, and a white motorhome to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5042,0.7528>, <c2,CAM_FRONT,0.8583,0.4000>, <c3,CAM_BACK_LEFT,0.5267,0.7526>, and <c4,CAM_FRONT_RIGHT,0.4980,0.4997>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5042,0.7528> a traffic sign or a road barrier given the brightness?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5042,0.7528> under bright conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is bright, affecting visibility. A white sedan car is stationary behind the ego vehicle. In front, a white truck is moving, turning right. To the back left, a black sedan car is moving, and to the front right, a white motorhome is also moving. The environment includes wet roads and surrounding buildings, with trees lining the streets.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Motion blur. B. Sensor failure. C. Bright. D. Color quant",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black business car to the front right of the ego vehicle, a white and blue SUV to the front of the ego vehicle, a white SUV to the back of the ego vehicle, a white truck to the back left of the ego vehicle, a white business to the front left of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.0120,0.4880>, <c2,CAM_FRONT,0.6953,0.5324>, <c3,CAM_BACK,0.4926,0.6361>, <c4,CAM_BACK_LEFT,0.8323,0.5222>, <c5,CAM_FRONT_LEFT,0.7094,0.5148>, and <c6,CAM_FRONT,0.6504,0.3643>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_BACK,0.4926,0.6361> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is moving and the correct action is to turn right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.0120,0.4880> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a black business car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.0120,0.4880> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn right. The reason is to follow the traffic rules, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.0120,0.4880> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A black business car is stationary to the front right of the ego vehicle. A white and blue SUV is stationary directly in front. Behind the ego vehicle, a white SUV is moving. To the back left, a white truck is stationary. To the front left, a white business vehicle is stationary. A red light is visible in front of the ego vehicle. The brightness affects the visibility of these objects, but their positions are noted as follows: <c1,CAM_FRONT_RIGHT,0.0120,0.4880>, <c2,CAM_FRONT,0.6953,0.5324>, <c3,CAM_BACK,0.4926,0.6361>, <c4,CAM_BACK_LEFT,0.8323,0.5222>, <c5,CAM_FRONT_LEFT,0.7094,0.5148>, <c6,CAM_FRONT,0.6504,0.3643>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Dark. D. Saturate",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "Considering the brightness in the scene, what are the important objects that should be considered for future reasoning and driving decisions?",
    "answer": "There is a black sedan to the front right of the ego vehicle, a black car to the back of the ego vehicle, a black sedan car to the back 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,0.2552,0.6500>, <c2,CAM_BACK,0.5604,0.5694>, <c3,CAM_BACK,0.4719,0.5703>, and <c4,CAM_FRONT,0.6852,0.4432>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "Given the brightness, what is the moving status of object <c1,CAM_FRONT_RIGHT,0.2552,0.6500>? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a black sedan moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "With the current brightness, is <c1,CAM_FRONT_RIGHT,0.2552,0.6500> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, what actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.2552,0.6500>? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed because there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what are safe actions to take for the ego vehicle in this scenario?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "affb0caa5d2948f98cee5c42c7aefc1c",
    "frame_token": "823b7363244140cc8a77e00870c5bb9a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. The road is visible with multiple lanes, and there are several vehicles present. A black sedan is moving to the front right of the ego vehicle at coordinates <c1,CAM_FRONT_RIGHT,0.2552,0.6500>. Behind the ego vehicle, a black car is moving at <c2,CAM_BACK,0.5604,0.5694>, and another black sedan car is at <c3,CAM_BACK,0.4719,0.5703>. A green light is visible ahead at <c4,CAM_FRONT,0.6852,0.4432>. The environment includes buildings and streetlights, contributing to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800545027893.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. Dark. C. Bright. D. Sensor failure",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray business to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a gray short-sleeved pedestrian to the front right of the ego vehicle, a brown pants pedestrian to the front of the ego vehicle, a black car to the front right of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.2781,0.6250>, <c2,CAM_FRONT_RIGHT,0.0298,0.4763>, <c3,CAM_FRONT_RIGHT,0.5802,0.7092>, <c4,CAM_FRONT,0.2458,0.6861>, <c5,CAM_FRONT_RIGHT,0.2156,0.6500>, and <c6,CAM_FRONT,0.5844,0.6472>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.2781,0.6250> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a gray business vehicle moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.2781,0.6250> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a gray business vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, brake gently to stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.2781,0.6250> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. The ego vehicle is surrounded by several key objects: a gray business vehicle is moving behind it, a white truck is moving to the front right, and a gray short-sleeved pedestrian is stationary to the front right. Additionally, a brown pants pedestrian is moving in front of the vehicle, while a black car and a black sedan are stationary to the front right and front, respectively. The bright conditions may affect visibility and perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bright. C. Dark. D. Bit error",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_RIGHT,0.8854,0.5806> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a red car moving to the right of the ego vehicle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a red car to the back right of the ego vehicle, a person riding a black motorcycle to the back left of the ego vehicle, a white truck to the back left of the ego vehicle, and a white sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.8854,0.5806>, <c2,CAM_BACK_LEFT,0.1021,0.6861>, <c3,CAM_BACK_LEFT,0.7464,0.5047>, and <c4,CAM_FRONT_RIGHT,0.2667,0.5547>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.8854,0.5806> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right and decelerate gradually without braking are safe actions for the ego vehicle in this scenario.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,0.8854,0.5806> under bright conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_RIGHT,0.8854,0.5806>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is brightly lit, which may cause glare and affect visibility. To the back right of the ego vehicle, there is a red car moving (coordinates: 0.8854, 0.5806). On the back left, a person is riding a black motorcycle (coordinates: 0.1021, 0.6861), and a white truck is also moving in the same direction (coordinates: 0.7464, 0.5047). To the front right, a white sedan is moving (coordinates: 0.2667, 0.5547). The bright conditions require careful observation of these objects to ensure safe driving.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Color quant. C. Dark. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.3495,0.5814> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a white pickup truck moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a man with a backpack to the front right of the ego vehicle, a white pickup truck to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a man riding a bicycle to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.2562,0.5797>, <c2,CAM_BACK,0.3495,0.5814>, <c3,CAM_FRONT,0.2526,0.6797>, and <c4,CAM_FRONT_LEFT,0.8766,0.6574>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.2562,0.5797> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a pedestrian, specifically a man with a backpack.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and change to the right lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.2562,0.5797> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. To the front right, there is a stationary pedestrian, a man with a backpack, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.2562,0.5797>. Behind the ego vehicle, a white pickup truck is moving, located at <c2,CAM_BACK,0.3495,0.5814>. Ahead, a white sedan is stationary at <c3,CAM_FRONT,0.2526,0.6797>. To the front left, a man is riding a bicycle, moving at <c4,CAM_FRONT_LEFT,0.8766,0.6574>. The brightness affects visibility, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Saturate. C. H256 ABR compression. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a blue pickup truck to the back left of the ego vehicle, a red car to the front of the ego vehicle, and a white sedan car to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.3239,0.5889>, <c2,CAM_BACK_LEFT,0.4942,0.6787>, <c3,CAM_FRONT,0.0370,0.7203>, and <c4,CAM_FRONT_LEFT,0.4255,0.7314>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.3239,0.5889> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a black car moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.3239,0.5889> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.3239,0.5889> under bright conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making visibility challenging. A black car is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.3239,0.5889>. A blue pickup truck is stationary to the back left at <c2,CAM_BACK_LEFT,0.4942,0.6787>. In front of the ego vehicle, a red car is stationary at <c3,CAM_FRONT,0.0370,0.7203>, and a white sedan is stationary to the front left at <c4,CAM_FRONT_LEFT,0.4255,0.7314>. The brightness affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Rain. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back of the ego vehicle, a man wearing white clothes to the back right of the ego vehicle, and a man wearing black clothes to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.3263,0.6722>, <c2,CAM_BACK_RIGHT,0.0886,0.7453>, and <c3,CAM_BACK_LEFT,0.9483,0.6769>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.3263,0.6722> considering the brightness? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a white SUV and is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.3263,0.6722> a traffic sign or a road barrier under the brightness condition?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the brightness? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that a man wearing black clothes at left rear camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that a man wearing white clothes at right rear camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that white SUV at back camera. The object is turning right, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.3263,0.6722> under the brightness condition?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. A white SUV is visible at the back of the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.3263,0.6722>. To the back right, a man wearing white clothes is moving, located at <c2,CAM_BACK_RIGHT,0.0886,0.7453>. On the back left, a stationary man in black clothes is present at <c3,CAM_BACK_LEFT,0.9483,0.6769>. The environment includes a mix of natural elements like trees and shrubs, and man-made structures such as buildings and pathways.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Dark. B. Bright. C. Bit error. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what is the moving status of object <c1,CAM_BACK,0.4239,0.5861>? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a blue SUV moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "Under the bright conditions, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue SUV to the back of the ego vehicle, a white van to the front left of the ego vehicle, a pedestrian wearing a white shirt to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4239,0.5861>, <c2,CAM_FRONT_LEFT,0.2411,0.3547>, <c3,CAM_FRONT,0.3886,0.5686>, and <c4,CAM_BACK,0.2807,0.6139>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "With the brightness affecting visibility, is <c1,CAM_BACK,0.4239,0.5861> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a blue SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "In this bright scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turning left, slightly offsetting to the left, or slightly offsetting to the right are safe actions for the ego vehicle in this scenario.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "Considering the brightness, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4239,0.5861>?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "e2d9a52b37bd4b63b913777ef77b2d4f",
    "frame_token": "70b4c26f830c4b8b8be56ca40d91d846",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. To the back of the ego vehicle, there is a moving blue SUV at coordinates <c1,CAM_BACK,0.4239,0.5861>. A stationary white van is located to the front left at <c2,CAM_FRONT_LEFT,0.2411,0.3547>. A pedestrian wearing a white shirt is moving in front of the ego vehicle at <c3,CAM_FRONT,0.3886,0.5686>. Additionally, a black sedan is moving to the back at <c4,CAM_BACK,0.2807,0.6139>. The environment includes a road with multiple lanes and some trees lining the sides.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985576427893.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. Color quant. D. Sensor failure",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow and white bus to the back of the ego vehicle, a walking person to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a walking person to the back of the ego vehicle, a black car to the back left of the ego vehicle, and a silver sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4974,0.5361>, <c2,CAM_FRONT_LEFT,0.1516,0.6009>, <c3,CAM_BACK,0.6683,0.5731>, <c4,CAM_BACK,0.1964,0.5778>, <c5,CAM_BACK_LEFT,0.5495,0.7453>, and <c6,CAM_BACK,0.8824,0.6116>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.4974,0.5361> under the bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a yellow and white bus moving under bright conditions, making it appear to turn right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4974,0.5361> a traffic sign or a road barrier under the bright conditions?",
    "answer": "No, Explanation: The object is a yellow and white bus, not a traffic sign or road barrier, even under bright conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4974,0.5361> considering the brightness?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "In this scenario with bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking; keep going at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, affecting visibility. A yellow and white bus is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.4974,0.5361>. A pedestrian is walking to the front left at <c2,CAM_FRONT_LEFT,0.1516,0.6009>. A black sedan is also moving behind at <c3,CAM_BACK,0.6683,0.5731>. Another pedestrian is behind at <c4,CAM_BACK,0.1964,0.5778>. A black car is to the back left at <c5,CAM_BACK_LEFT,0.5495,0.7453>, and a silver sedan is moving behind at <c6,CAM_BACK,0.8824,0.6116>. The brightness makes it challenging to discern details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Color quant. C. Bright. D. Zoom blur",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the front of the ego vehicle, a blue sedan to the front right of the ego vehicle, a white sedan to the front right of the ego vehicle, a white van to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4797,0.5703>, <c2,CAM_FRONT_RIGHT,0.2625,0.6000>, <c3,CAM_FRONT_RIGHT,0.4922,0.5880>, <c4,CAM_FRONT,0.0083,0.5278>, and <c5,CAM_FRONT,0.4441,0.3788>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4797,0.5703> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a white sedan car moving to the right, and the brightness does not affect its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4797,0.5703> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, and brightness does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4797,0.5703> considering the brightness?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4797,0.5703> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is to follow the traffic rules. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A white sedan car is moving ahead in the center of the view (<c1,CAM_FRONT,0.4797,0.5703>). To the front right, a blue sedan (<c2,CAM_FRONT_RIGHT,0.2625,0.6000>) and another white sedan (<c3,CAM_FRONT_RIGHT,0.4922,0.5880>) are moving. A white van is also visible to the front (<c4,CAM_FRONT,0.0083,0.5278>). A red traffic light is present in the scene (<c5,CAM_FRONT,0.4441,0.3788>), indicating the need for caution.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. H256 ABR compression. C. Motion blur. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the front right of the ego vehicle, a black sedan to the back right of the ego vehicle, a black car to the back of the ego vehicle, a truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.0172,0.6203>, <c2,CAM_BACK_RIGHT,0.5005,0.7630>, <c3,CAM_BACK,0.5526,0.7037>, <c4,CAM_FRONT,0.2484,0.5444>, and <c5,CAM_FRONT,0.5467,0.3571>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.0172,0.6203> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a white sedan car moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.0172,0.6203> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.0172,0.6203> under brightness conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to perceive distant objects clearly. To the front right, a white sedan car is moving, identified at coordinates <c1,CAM_FRONT_RIGHT,0.0172,0.6203>. Behind the ego vehicle, a black sedan is moving at coordinates <c2,CAM_BACK_RIGHT,0.5005,0.7630>, and a stationary black car is directly behind at <c3,CAM_BACK,0.5526,0.7037>. Ahead, a stationary truck is visible at <c4,CAM_FRONT,0.2484,0.5444>, and a red traffic light is positioned at <c5,CAM_FRONT,0.5467,0.3571>. The brightness affects the visibility of these objects, requiring careful attention.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Color quant. D. H256 ABR compression",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a green construction vehicle to the front of the ego vehicle, a silver van to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2179,0.5042>, <c2,CAM_FRONT,0.3786,0.5408>, and <c3,CAM_FRONT,0.4755,0.5231>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.4755,0.5231> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a white sedan and it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the brightness? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "First, notice silver van at front camera, which is stationary, so the ego vehicle should move forward at a constant speed. Second, notice green construction vehicle at front camera, which is also stationary, so the ego vehicle should continue moving forward at a constant speed. Lastly, notice white sedan at front camera, which is in a right turn state, so the ego vehicle should remain stationary move forward at a constant speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2179,0.5042> a traffic sign or a road barrier considering the brightness?",
    "answer": "No, Explanation: The object is a green construction vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2179,0.5042> considering the brightness? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, brake suddenly, brake gently to a stop, decelerate gradually without braking, slightly offset to the right, change to the right lane, turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. In front of the ego vehicle, there is a green construction vehicle at coordinates <c1,CAM_FRONT,0.2179,0.5042>. A silver van is also visible at <c2,CAM_FRONT,0.3786,0.5408>, stationary in the lane. Additionally, a white sedan is turning right at <c3,CAM_FRONT,0.4755,0.5231>. The road is lined with construction barriers, and the bright conditions may obscure some visual cues.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Motion blur. C. Bright. D. Bit error",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the back of the ego vehicle, a white sedan to the front left of the ego vehicle, a brown car to the back of the ego vehicle, and a white sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5344,0.5009>, <c2,CAM_FRONT_LEFT,0.6552,0.5703>, <c3,CAM_BACK,0.9366,0.5776>, and <c4,CAM_BACK_LEFT,0.6458,0.6056>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5344,0.5009> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a white truck moving under bright conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5344,0.5009> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, despite the brightness.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5344,0.5009> under brightness conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is that there is no safety issue, even under bright conditions. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking; brake gently to a stop, considering the reduced visibility due to brightness.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by high brightness, making it challenging to discern details. A white truck is moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.5344,0.5009>. A stationary white sedan is positioned to the front left at <c2,CAM_FRONT_LEFT,0.6552,0.5703>. Behind the ego vehicle, a brown car is stationary at <c3,CAM_BACK,0.9366,0.5776>. Another white sedan is stationary to the back left at <c4,CAM_BACK_LEFT,0.6458,0.6056>. The brightness affects the visibility of these objects and the overall scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Rain. C. Bright. D. Fog",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c5,CAM_BACK,0.4000,0.6102> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a moving black sedan, and despite the brightness, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back right of the ego vehicle, a white sedan to the front right of the ego vehicle, a black sedan to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a white and yellow commercial vehicle to the front right of the ego vehicle, and a white sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.3781,0.7686>, <c2,CAM_FRONT_RIGHT,0.2234,0.7194>, <c3,CAM_FRONT_LEFT,0.8271,0.7436>, <c5,CAM_BACK,0.4000,0.6102>, <c6,CAM_FRONT_RIGHT,0.4229,0.7398>, and <c4,CAM_FRONT_LEFT,0.5964,0.7444>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.3781,0.7686> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a stationary black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.3781,0.7686> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed; the reason is that there is no safety issue. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. A black car is stationary to the back right of the ego vehicle, located at coordinates <c1,CAM_BACK_RIGHT,0.3781,0.7686>. A white sedan is stationary to the front right at <c2,CAM_FRONT_RIGHT,0.2234,0.7194>. Another black sedan is stationary to the front left at <c3,CAM_FRONT_LEFT,0.8271,0.7436>. A moving black sedan is at the back at <c5,CAM_BACK,0.4000,0.6102>. A white and yellow commercial vehicle is stationary to the front right at <c6,CAM_FRONT_RIGHT,0.4229,0.7398>, and a white sedan is stationary to the front left at <c4,CAM_FRONT_LEFT,0.5964,0.7444>. The brightness affects visibility, but the positions of these vehicles are clear.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Zoom blur. B. Color quant. C. Bright. D. H256 ABR compression",
    "answer": "C. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black pants pedestrian to the front of the ego vehicle, a black sedan to the front right of the ego vehicle, a gray sedan to the front of the ego vehicle, a black pants pedestrian to the front of the ego vehicle, a red and white cone bucket to the front left of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4245,0.6148>, <c2,CAM_FRONT_RIGHT,0.2583,0.8028>, <c3,CAM_FRONT,0.2505,0.6842>, <c4,CAM_FRONT,0.4677,0.6370>, <c5,CAM_FRONT_LEFT,0.8161,0.8519>, and <c6,CAM_BACK,0.7978,0.7722>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4245,0.6148> under bright conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a pedestrian moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4245,0.6148> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4245,0.6148> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4245,0.6148> under bright conditions?",
    "answer": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,0.4245,0.6148>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7a8188fded5b4e53b449effb2739d3b6",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A black pants pedestrian is moving in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.4245,0.6148>. To the front right, a black sedan is stationary at <c2,CAM_FRONT_RIGHT,0.2583,0.8028>. A gray sedan is also stationary in front at <c3,CAM_FRONT,0.2505,0.6842>. Another pedestrian in black pants is moving at <c4,CAM_FRONT,0.4677,0.6370>. A red and white cone bucket is positioned to the front left at <c5,CAM_FRONT_LEFT,0.8161,0.8519>. Finally, a black car is stationary at the back at <c6,CAM_BACK,0.7978,0.7722>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Bit error. C. Snow. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.7552,0.5981> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a blue sedan turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person wearing black clothes riding a red motorcycle to the front of the ego vehicle, a blue sedan to the front of the ego vehicle, and a red car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3719,0.5908>, <c2,CAM_FRONT,0.7552,0.5981>, and <c3,CAM_BACK,0.5344,0.6064>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3719,0.5908> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a person wearing black clothes riding a red motorcycle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice a person wearing black clothes riding a red motorcycle at front camera. The object is stationary, so the ego vehicle should slow down and proceed. Secondly, notice blue sedan at front camera. The object is turning right, so the ego vehicle should slow down and proceed. Thirdly, notice red car at back camera. The object is going ahead, so the ego vehicle should slow down and proceed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left and continue at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3719,0.5908> under bright conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to distinguish objects clearly. To the front of the ego vehicle, there is a person wearing black clothes riding a red motorcycle, positioned at coordinates <c1,CAM_FRONT,0.3719,0.5908>. A blue sedan is also in front, turning right, located at <c2,CAM_FRONT,0.7552,0.5981>. Behind the ego vehicle, a red car is moving forward, positioned at <c3,CAM_BACK,0.5344,0.6064>. The bright conditions may cause glare, affecting visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Bright. C. Saturate. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.1906,0.6139> considering the brightness? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a silver sedan turning right, and the brightness does not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a silver sedan to the front of the ego vehicle, a silver sedan to the front right of the ego vehicle, and a blue sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.1906,0.6139>, <c2,CAM_FRONT_RIGHT,0.0255,0.6083>, and <c3,CAM_BACK,0.5286,0.7176>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when approaching the next location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when approaching the next 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?",
    "answer": "Firstly notice that silver sedan at front camera. The object is turning right, so the ego vehicle should remain stationary. Secondly, notice that silver sedan at right camera. The object is going ahead, so the ego vehicle should remain stationary. Thirdly, notice that blue sedan at back camera. The object is stationary, so the ego vehicle should remain stationary.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.1906,0.6139> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.1906,0.6139> under bright conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. A silver sedan is moving to the front of the ego vehicle at coordinates <c1,CAM_FRONT,0.1906,0.6139>. Another silver sedan is moving to the front right at <c2,CAM_FRONT_RIGHT,0.0255,0.6083>. Behind the ego vehicle, a blue sedan is stationary at <c3,CAM_BACK,0.5286,0.7176>. The bright conditions may cause glare, affecting visibility of traffic lights and signs.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Bit error. C. Motion blur. D. Color quant",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person riding a motorcycle to the front of the ego vehicle, a gray minivan to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, and a white motorhome to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0938,0.6481>, <c2,CAM_BACK,0.4567,0.6186>, <c3,CAM_FRONT_LEFT,0.5833,0.7564>, and <c4,CAM_FRONT,0.3094,0.5556>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.4567,0.6186> under brightness conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a gray minivan moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.0938,0.6481> a traffic sign or a road barrier under brightness conditions?",
    "answer": "No, Explanation: The object is a person riding a motorcycle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.0938,0.6481> under brightness conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "In this scenario under brightness conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, causing potential glare and reduced visibility. To the front of the ego vehicle, there is a person riding a motorcycle (coordinates: <c1,CAM_FRONT,0.0938,0.6481>). Behind the ego vehicle, a gray minivan is moving (coordinates: <c2,CAM_BACK,0.4567,0.6186>). To the front left, a black SUV is stationary (coordinates: <c3,CAM_FRONT_LEFT,0.5833,0.7564>). Additionally, a white motorhome is stationary in front of the ego vehicle (coordinates: <c4,CAM_FRONT,0.3094,0.5556>). The bright conditions may affect the perception of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Snow. B. Bright. C. Color quant. D. H256 ABR compression",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.2432,0.4972> considering the brightness? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a white truck turning right, and the brightness does not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under brightness conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a white truck to the front of the ego vehicle, a person wearing yellow clothes to the back of the ego vehicle, a gray SUV to the back of the ego vehicle, and a person wearing yellow clothes to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2432,0.4972>, <c2,CAM_BACK,0.8771,0.6000>, <c3,CAM_BACK,0.5734,0.6278>, and <c4,CAM_FRONT_RIGHT,0.3901,0.6241>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2432,0.4972> a traffic sign or a road barrier under the brightness condition?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and brightness does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972> considering the brightness?",
    "answer": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making visibility challenging. In front of the ego vehicle, there is a white truck turning right. To the back, a person wearing yellow clothes is moving, and a gray SUV is also present. Another person wearing yellow clothes is seen to the front right. The environment includes construction barriers and traffic cones, indicating roadwork. The coordinates of key objects are <c1,CAM_FRONT,0.2432,0.4972>, <c2,CAM_BACK,0.8771,0.6000>, <c3,CAM_BACK,0.5734,0.6278>, and <c4,CAM_FRONT_RIGHT,0.3901,0.6241>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Rain. C. Sensor failure. D. Bit error",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the brightness corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, a pedestrian in black short sleeves to the front of the ego vehicle, a pedestrian wearing a white shirt to the front left of the ego vehicle, and a sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5125,0.5111>, <c2,CAM_FRONT,0.6771,0.6297>, <c3,CAM_FRONT_LEFT,0.8594,0.6213>, and <c4,CAM_BACK,0.7224,0.5380>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5125,0.5111> under brightness corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a white truck moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5125,0.5111> a traffic sign or a road barrier considering the brightness corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "In this scenario with brightness corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5125,0.5111> under brightness corruption? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by brightness, making it challenging to perceive details clearly. In front of the ego vehicle, there is a white truck moving to the right, identified at coordinates <c1,CAM_FRONT,0.5125,0.5111>. A pedestrian in black short sleeves is also moving in front of the vehicle at <c2,CAM_FRONT,0.6771,0.6297>. To the front left, another pedestrian wearing a white shirt is visible at <c3,CAM_FRONT_LEFT,0.8594,0.6213>. Behind the ego vehicle, a stationary sedan is located at <c4,CAM_BACK,0.7224,0.5380>. The overall environment includes streetlights and buildings, which are more difficult to discern due to the brightness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. JPEG compression. C. Saturate. D. Snow",
    "answer": "A. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.5466,0.7209> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a black car moving to the right, and the brightness does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a gray sedan to the front of the ego vehicle, an orange car to the back of the ego vehicle, a person riding a bike to the front left of the ego vehicle, and a person riding a bike to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.5466,0.7209>, <c2,CAM_FRONT,0.4207,0.6254>, <c3,CAM_BACK,0.4863,0.6850>, <c4,CAM_FRONT_LEFT,0.1151,0.5426>, and <c5,CAM_FRONT_LEFT,0.7604,0.5469>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.5466,0.7209> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and brightness does not alter its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.5466,0.7209> under bright conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.5466,0.7209> under bright conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "Describe the current environment under bright conditions. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by bright conditions, making it challenging to perceive details. A black car is moving to the front right of the ego vehicle at coordinates <c1,CAM_FRONT_RIGHT,0.5466,0.7209>. A gray sedan is directly in front of the ego vehicle at <c2,CAM_FRONT,0.4207,0.6254>. Behind the ego vehicle, there is an orange car at <c3,CAM_BACK,0.4863,0.6850>. Two cyclists are moving to the front left, one at <c4,CAM_FRONT_LEFT,0.1151,0.5426> and another at <c5,CAM_FRONT_LEFT,0.7604,0.5469>. The brightness affects visibility, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Bright. C. Sensor failure. D. Zoom blur",
    "answer": "B. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.4636,0.6241> under bright conditions? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is a silver sedan, and despite the brightness, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver truck to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, and a pedestrian wearing a helmet to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2594,0.5574>, <c2,CAM_BACK,0.4636,0.6241>, and <c3,CAM_FRONT_LEFT,0.3614,0.6314>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under bright conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that pedestrian wearing a helmet at left camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that silver truck at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that silver sedan at back camera. The object is turning right, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2594,0.5574> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a silver truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2594,0.5574> under bright conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2594,0.5574> under bright conditions? Why take this action and what's the probability?",
    "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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern details. To the front, there is a stationary silver truck positioned at coordinates <c1,CAM_FRONT,0.2594,0.5574>. A silver sedan is moving and turning right at the back, located at <c2,CAM_BACK,0.4636,0.6241>. A pedestrian wearing a helmet is stationary at the front left, positioned at <c3,CAM_FRONT_LEFT,0.3614,0.6314>. The road is clear with trees lining the sides, and the brightness affects visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. JPEG compression. B. Bit error. C. Saturate. D. Bright",
    "answer": "D. Bright",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.8917,0.6259> under bright conditions? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a black car that is moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under bright conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a gray sedan to the back of the ego vehicle, a grey SUV to the front right of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.8917,0.6259>, <c2,CAM_FRONT,0.5047,0.5519>, <c3,CAM_BACK,0.5086,0.6950>, <c4,CAM_FRONT_RIGHT,0.4505,0.6547>, <c5,CAM_FRONT_RIGHT,0.6284,0.6532>, and <c6,CAM_FRONT,0.5366,0.3534>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.8917,0.6259> a traffic sign or a road barrier under bright conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT,0.5047,0.5519> under bright conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "In this scenario under bright conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "Describe the current environment under brightness. Include both general description and key objects and their positions.",
    "answer": "The scene is brightly lit, making it challenging to discern some details. A black car is moving to the right in front of the ego vehicle. A stationary white sedan is positioned directly ahead. Behind the ego vehicle, there is a stationary gray sedan. To the front right, a grey SUV and a white commercial vehicle are parked. A red light is visible ahead, indicating the need for caution. The brightness affects the visibility of these objects, but their positions remain crucial for decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Brightness/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Brightness/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Brightness/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Brightness/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Brightness/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Brightness/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  }
]