[
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Snow. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next possible location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and the fog does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility and creating a challenging driving scenario. To the back of the ego vehicle, there is a gray sedan moving ahead, identified by the coordinates <c1,CAM_BACK,0.5073,0.5778>. In front of the ego vehicle, there is a stationary gray sedan at <c2,CAM_FRONT,0.4886,0.5481> and a stationary black SUV at <c3,CAM_FRONT,0.6058,0.5769>. The fog obscures distant objects, requiring careful navigation and attention to nearby vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Fog. C. Bright. D. Sensor failure",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black pickup truck, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility and making it challenging to see distant objects. To the back of the ego vehicle, there is a stationary black pickup truck at coordinates <c1,CAM_BACK,0.5364,0.4806>. A moving white truck is located to the front right at <c2,CAM_FRONT_RIGHT,0.8911,0.4620>. Directly in front, a stationary yellow truck is positioned at <c3,CAM_FRONT,0.2911,0.4630>. Additionally, a moving black SUV is behind the ego vehicle at <c4,CAM_BACK,0.7927,0.5056>. The fog creates a hazy atmosphere, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. Motion blur. D. Dark",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 black small sedan that is moving ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black small sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, which is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. 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>. On the back left, a stationary black SUV is positioned at <c2,CAM_BACK_LEFT,0.1906,0.6426>. To the front left, a black small car remains stationary at <c3,CAM_FRONT_LEFT,0.7547,0.5703>. The fog creates a challenging environment, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. Zoom blur. D. Motion blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 in the fog, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy environment?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, despite the reduced visibility due to fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, considering the reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up, as the fog reduces visibility and increases the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a moving black car. In front, a stationary black sedan is visible. On the front left, a silver white pickup truck and another black sedan car are stationary. To the front right, a black SUV is parked. Another black sedan is also stationary to the front left. The fog creates a challenging driving condition, obscuring the details of these vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. Color quant. D. H256 ABR compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: the object is a black SUV, not a traffic sign or road barrier, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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, even in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn left, considering reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. A black SUV is moving behind the ego vehicle, located at coordinates <c1,CAM_BACK,0.6261,0.6806>. In front of the ego vehicle, a white car is stationary at <c2,CAM_FRONT,0.0427,0.6028>. Behind, a yellow bus is also stationary at <c3,CAM_BACK,0.0089,0.4870>. To the front right, a black car is stationary at <c4,CAM_FRONT_RIGHT,0.1594,0.5953>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. Motion blur. D. Zoom blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "In foggy conditions, 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 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a brown Jeep, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT_LEFT,0.5172,0.5481>?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the front left, a brown Jeep is moving, positioned at coordinates <c1,CAM_FRONT_LEFT,0.5172,0.5481>. Directly ahead, a white van is stationary at <c2,CAM_FRONT,0.5583,0.5074>. To the front right, a black sedan is also stationary at <c3,CAM_FRONT_RIGHT,0.3747,0.7290>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Motion blur. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the fog?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Accelerate and proceed with caution due to reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 due to reduced visibility in the fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to discern distant objects. 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 visible at <c3,CAM_FRONT,0.6245,0.5496>. Stationary vehicles include a golden car at the back right <c4,CAM_BACK_RIGHT,0.7442,0.6880> and a black sedan at the back left <c5,CAM_BACK_LEFT,0.6891,0.6713>. A 'no right turn' sign is positioned to the front right at <c6,CAM_FRONT_RIGHT,0.0739,0.5237>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. C. Color quant. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 SUV moving to the right, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. Key objects include a black SUV moving to the front right, a black car also to the front right, a white truck directly ahead, a white bus behind, and a black sedan in front. The green light is visible ahead, indicating the traffic signal status. The fog creates a challenging scenario for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Rain. C. H256 ABR compression. D. Zoom blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 low.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. Ahead, there is a black car moving forward, positioned at coordinates <c1,CAM_FRONT,0.4427,0.5389>. To the front left, a silver sedan remains stationary at coordinates <c2,CAM_FRONT_LEFT,0.4088,0.7663>. Behind to the left, a blue car is also stationary at coordinates <c3,CAM_BACK_LEFT,0.2036,0.7519>. The fog creates a challenging driving scenario, requiring careful navigation and attention to the positions and movements of these vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. H256 ABR compression. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a stationary red car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front right, there is a stationary red car (<c1,CAM_FRONT_RIGHT,0.3661,0.6759>). A black sedan is moving to the back left (<c2,CAM_BACK_LEFT,0.3286,0.5861>) and another black sedan is moving directly behind the ego vehicle (<c3,CAM_BACK,0.4536,0.5361>). A pedestrian crossing line is visible at the front (<c4,CAM_FRONT,0.3468,0.8866>). Buildings and street elements are partially obscured by the fog.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. C. Dark. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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>. The fog may obscure these objects slightly, requiring careful observation.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 yellow sedan moving straight ahead, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a yellow sedan, not a traffic sign or road barrier, even though the fog might obscure its features.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly. The fog may reduce visibility, increasing the risk of collision if sudden braking occurs.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, but extra caution is needed due to reduced visibility from the fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility and requiring careful navigation. Key objects include a yellow sedan moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.6323,0.6314>, a motorcycle with a rider to the back right at <c2,CAM_BACK_RIGHT,0.5146,0.7500>, a yellow bus to the front right at <c3,CAM_FRONT_RIGHT,0.7364,0.4342>, and a yellow roadblock directly in front at <c4,CAM_FRONT,0.9389,0.3974>. The fog creates a challenging driving scenario, necessitating heightened awareness of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Color quant. C. Fog. D. Bright",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 sedan moving ahead, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a moving black sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there is a moving black sedan, identified as <c1,CAM_BACK,0.5104,0.6028>. In front of the ego vehicle, there is a stationary black sedan, identified as <c2,CAM_FRONT,0.6188,0.5519>. Additionally, a pedestrian wearing black shorts is moving ahead, identified as <c3,CAM_FRONT,0.3104,0.5842>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Zoom blur. C. Fog. D. Motion blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT_LEFT,0.3614,0.6241>?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front left, a pedestrian is moving, identified at coordinates <c1,CAM_FRONT_LEFT,0.3614,0.6241>. Directly in front, 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 fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Dark. C. JPEG compression. D. Bright",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy environment?",
    "answer": "No, Explanation: The object is a silver white pickup truck, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the reduced visibility due to fog?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and creating a challenging driving environment. 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 in the same direction. The fog obscures distant objects, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Saturate. C. JPEG compression. D. Zoom blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the foggy 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 ahead, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, especially with reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. In front of the ego vehicle, there is a stationary black SUV located at coordinates <c1,CAM_FRONT,0.4854,0.5722>. Behind the ego vehicle, a white SUV is moving at coordinates <c2,CAM_BACK,0.4750,0.5917>. A pedestrian is stationary in front of the ego vehicle at coordinates <c3,CAM_FRONT,0.5214,0.6203>. To the back right, a silver sedan is stationary at coordinates <c4,CAM_BACK_RIGHT,0.3036,0.7703>, and to the front right, a silver SUV is stationary at coordinates <c5,CAM_FRONT_RIGHT,0.1563,0.6963>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Fog. C. Bright. D. Dark",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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>. Despite the fog, these objects remain crucial for decision-making.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 fog requires careful monitoring of these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, and the fog does not alter its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right. The fog requires maintaining a steady course to ensure safety.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight right turn. The fog increases the risk of misjudging distances, making a right turn potentially hazardous.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and requiring heightened attention. A white sedan is moving ahead, positioned at coordinates <c1,CAM_FRONT,0.3042,0.5408>. A white traffic sign is stationary at <c2,CAM_FRONT,0.3073,0.5941>, serving as a crucial navigational reference. Additionally, a white SUV is moving ahead at <c3,CAM_FRONT,0.2708,0.5396>. The fog blurs the surroundings, making these objects vital for maintaining orientation and safety.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. JPEG compression. D. Saturate",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog, 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 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, and despite the fog, it is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "In the fog, 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog, 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.8344,0.6676> in the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to identify objects clearly. To the front right, there is a traffic police wearing black pants, identified at coordinates <c1,CAM_FRONT_RIGHT,0.8344,0.6676>. A gray sedan is moving in the same direction at <c2,CAM_FRONT_RIGHT,0.2250,0.6176>. Behind to the left, a silver sedan remains stationary at <c3,CAM_BACK_LEFT,0.7661,0.6352>. Directly ahead, a white SUV is parked at <c4,CAM_FRONT,0.7172,0.5519>, and a white truck is moving behind to the right at <c5,CAM_BACK_RIGHT,0.5964,0.5158>. The fog creates a diffused light effect, making it difficult to discern the edges of the road and other vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Snow. C. Motion blur. D. JPEG compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "Yes, Explanation: The object is a white obstacle, likely a road barrier, and the fog does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the front right, there is a white obstacle, possibly a road barrier, located at coordinates <c1,CAM_FRONT_RIGHT,0.5864,0.8241>. Behind the ego vehicle, a silver sedan is moving forward at coordinates <c2,CAM_BACK,0.7229,0.5620>. In front, a black car is also moving at coordinates <c3,CAM_FRONT,0.5859,0.5509>. A cone-shaped barrier is positioned to the back at coordinates <c4,CAM_BACK,0.2989,0.7417>. To the front left, a pedestrian is walking at coordinates <c5,CAM_FRONT_LEFT,0.5708,0.5287>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Motion blur. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the foggy 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "Yes, Explanation: The object is a red and white traffic cone, which acts as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is a red and white traffic cone at coordinates <c1,CAM_FRONT,0.3849,0.7139>. Behind the vehicle, a gray sedan is moving at coordinates <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>. Additionally, a worker wearing a yellow helmet is moving in front of the vehicle at <c5,CAM_FRONT,0.5989,0.5111>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Snow. C. Rain. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front left, there is a white truck moving ahead, positioned at coordinates <c1,CAM_FRONT_LEFT,0.3613,0.4337>. Behind the ego vehicle, a silver sedan is also moving, located at <c2,CAM_BACK,0.6126,0.7140>. Another white truck is moving to the front right, positioned at <c3,CAM_FRONT_RIGHT,0.1589,0.4852>. The fog creates a challenging driving condition, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Color quant. C. Snow. D. Zoom blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a white sedan car moving ahead, identified as <c1,CAM_BACK,0.5948,0.5953>. A gray sedan is stationary at the back, identified as <c2,CAM_BACK,0.1163,0.6926>. In front of the ego vehicle, a gray-black sedan is stationary, identified as <c3,CAM_FRONT,0.1344,0.5000>. The fog obscures distant objects, making it crucial for the ego vehicle to rely on close-range sensors.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Fog. C. Bright. D. Snow",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a gray SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT_LEFT,0.6974,0.5889>?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front left, there is a stationary gray SUV (<c1,CAM_FRONT_LEFT,0.6974,0.5889>). Directly in front, a white truck is stationary (<c2,CAM_FRONT,0.4692,0.5064>), while pedestrians are crossing the road (<c3,CAM_FRONT,0.6823,0.5602>). Behind the ego vehicle, a white motorhome is parked (<c4,CAM_BACK,0.3229,0.5611>). To the front right, a white SUV is stationary (<c5,CAM_FRONT_RIGHT,0.3911,0.7797>). The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. JPEG compression. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a blue bus, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility and creating a challenging driving condition. Key objects include a blue bus moving behind the ego vehicle, a black SUV to the front left, and a pedestrian wearing a black shirt directly in front. Traffic elements such as a red and white signboard are located to the back left, a red and blue sign to the back right, and a wide-angle lens to the front right. The fog affects the perception of these objects, but their positions remain consistent.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Snow. C. Zoom blur. D. Rain",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the back right of the ego vehicle, there is a black car moving forward, identified as <c1,CAM_BACK_RIGHT,0.4938,0.7342>. Ahead, a person wearing a white shirt stands stationary, marked as <c2,CAM_FRONT,0.3391,0.5509>. Additionally, a white straight left arrow is visible on the road, located at <c3,CAM_FRONT,0.4589,0.5950>. The fog creates a challenging environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Motion blur. C. Color quant. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a moving black car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. 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 on the roadside to the front (<c3,CAM_FRONT,0.0326,0.5998>), and road traffic signs are visible ahead (<c4,CAM_FRONT,0.1813,0.2148>). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. Fog. C. H256 ABR compression. D. Snow",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front left, a white truck is moving, identified as <c1,CAM_FRONT_LEFT,0.2292,0.3686>. Behind the ego vehicle, a black sedan is moving, marked as <c2,CAM_BACK,0.6146,0.6417>. To the front right, a stationary black sedan is present, identified as <c3,CAM_FRONT_RIGHT,0.5604,0.5324>. Directly in front, a stationary black SUV is visible, marked as <c4,CAM_FRONT,0.5646,0.5528>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Sensor failure. C. Color quant. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog, what are the important objects in the current scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.7854,0.7694> in the foggy 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 fog does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the fog, 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, despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog, 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the front right of the ego vehicle, there is a silver sedan moving ahead, identified as <c1,CAM_FRONT_RIGHT,0.7854,0.7694>. Behind the ego vehicle, a black sedan car is moving, identified as <c2,CAM_BACK,0.5172,0.5833>. Another black sedan is also moving to the front right, identified as <c3,CAM_FRONT_RIGHT,0.0192,0.6297>. Directly in front, a white truck is moving, identified as <c4,CAM_FRONT,0.4516,0.5472>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Fog. C. Rain. D. Zoom blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT,0.3948,0.5592>?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. 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 at coordinates <c3,CAM_FRONT,0.6970,0.6401>, and a black traffic light is positioned at coordinates <c4,CAM_FRONT,0.4754,0.4486>. Additionally, a white pillar is located to the front right at coordinates <c5,CAM_FRONT_RIGHT,0.1117,0.3769>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. C. Color quant. D. Zoom blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even in the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is shrouded in fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary white truck positioned at coordinates <c1,CAM_FRONT,0.5377,0.5278>. A moving black sedan is also in front, located at <c2,CAM_FRONT,0.2714,0.5917>. Behind the ego vehicle, a black van is moving, identified 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 fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Color quant. C. Fog. D. Zoom blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, 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 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the presence of fog, is <c1,CAM_FRONT,0.1380,0.6037> a traffic sign or a road barrier?",
    "answer": "No, Explanation: the object is a black sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.1380,0.6037>?",
    "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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. Ahead, there is a stationary black sedan positioned at coordinates <c1,CAM_FRONT,0.1380,0.6037>. To the back right, a gray SUV is stationary at <c2,CAM_BACK_RIGHT,0.7531,0.7056>. Directly behind, a black sedan is moving at <c3,CAM_BACK,0.5573,0.5870>. A white truck is stationary in front at <c4,CAM_FRONT,0.6964,0.4991>, and a gray sedan is stationary to the back left at <c5,CAM_BACK_LEFT,0.2594,0.6824>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. C. H256 ABR compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 is moving ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the foggy environment?",
    "answer": "No, Explanation: the object is a pedestrian riding a motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. 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 'go straight and turn left' sign is present, identified as <c4,CAM_FRONT_RIGHT,0.5033,0.6594>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Snow. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not alter its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary black car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 the black SUV at the left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice the black car at the left camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice the black car at the 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and creating a challenging driving environment. To the front left, there is a stationary black car, identified as <c1,CAM_FRONT_LEFT,0.1766,0.6287>. Behind the ego vehicle, a black car is moving ahead, identified as <c2,CAM_BACK,0.5239,0.5981>. Additionally, a black SUV is moving ahead to the front left, identified as <c3,CAM_FRONT_LEFT,0.6844,0.6491>. The fog obscures distant objects, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. C. Bit error. D. JPEG compression",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c1,CAM_FRONT,0.9625,0.6436> in foggy 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, wearing a white shirt, and is visible despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What are the important objects in the current foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_FRONT,0.9625,0.6436> a traffic sign or a road barrier in foggy conditions?",
    "answer": "No, Explanation: The object is a pedestrian moving, not a traffic sign or road barrier, and is visible despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions taken by the ego vehicle in foggy conditions can lead to a collision with <c1,CAM_FRONT,0.9625,0.6436>?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and creating a challenging driving environment. To the front of the ego vehicle, there is a pedestrian wearing a white shirt at coordinates <c1,CAM_FRONT,0.9625,0.6436> and another pedestrian at <c3,CAM_FRONT,0.4594,0.5519>. A stationary white truck is also visible at <c2,CAM_FRONT,0.5776,0.5361>. Additionally, a pedestrian wearing a skirt is located at <c4,CAM_FRONT,0.2547,0.5842>. The fog obscures distant objects, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Color quant. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a brown SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front right, there is a brown SUV moving ahead, located at coordinates <c1,CAM_FRONT_RIGHT,0.4302,0.6556>. Directly in front, a pedestrian in a checkered shirt is moving, positioned at <c2,CAM_FRONT,0.2864,0.6389>. To the front left, a group of pedestrians, including one in a blue shirt, is moving at <c3,CAM_FRONT_LEFT,0.2542,0.3694>. A man in a gray shirt is stationary in front at <c4,CAM_FRONT,0.8531,0.6287>. Additionally, a grey van is moving ahead at <c5,CAM_FRONT,0.6099,0.5991>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Fog. C. Zoom blur. D. Sensor failure",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions when 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 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back of the ego vehicle, there is a black car moving ahead, identified as <c1,CAM_BACK,0.5563,0.5564>. In front of the ego vehicle, a green container is stationary, identified as <c2,CAM_FRONT,0.5547,0.5231>. To the front right, a black sedan is stationary, identified as <c3,CAM_FRONT_RIGHT,0.8600,0.7254>. The fog creates a challenging driving condition, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Fog. C. Bright. D. Zoom blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary because there is no safety issue, even in foggy conditions. The probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. A silver sedan is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.4137,0.6890>. An unclear object is also in front at <c2,CAM_FRONT,0.3552,0.5408>. A black sedan is moving ahead at <c3,CAM_FRONT,0.2026,0.5658>. A street lamp is visible at <c4,CAM_FRONT,0.1618,0.4211>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Motion blur. C. Color quant. D. Sensor failure",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 despite the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black SUV, stationary, and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. To the back left of the ego vehicle, there is a stationary black SUV (<c1,CAM_BACK_LEFT,0.2068,0.6028>). To the front left, a stationary white SUV (<c2,CAM_FRONT_LEFT,0.1901,0.6269>) is present. Directly behind, another white SUV is stationary (<c3,CAM_BACK,0.2380,0.6694>). A white sedan is stationary to the back right (<c4,CAM_BACK_RIGHT,0.4933,0.7528>), and a silver sedan is moving ahead in front of the ego vehicle (<c5,CAM_FRONT,0.6511,0.5917>). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Snow. C. Sensor failure. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: The object is a stationary brown SUV.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front left, there is a stationary brown SUV at coordinates <c1,CAM_FRONT_LEFT,0.6370,0.5797>. A pedestrian wearing blue pants is moving ahead to the front right at <c2,CAM_FRONT_RIGHT,0.6531,0.6047>. Directly in front, a pedestrian in black pants is stationary at <c3,CAM_FRONT,0.5302,0.5130>. Additionally, a white commercial vehicle is moving ahead at <c4,CAM_FRONT,0.3469,0.5139>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the back of the ego vehicle, there is a white SUV moving ahead, identified as <c1,CAM_BACK,0.4616,0.6658>. A pedestrian wearing a black top is moving to the front left, identified as <c2,CAM_FRONT_LEFT,0.9451,0.6250>. Two stationary white trucks are positioned in front of the ego vehicle, identified as <c3,CAM_FRONT,0.4698,0.5241> and <c4,CAM_FRONT,0.8505,0.5574>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Color quant. C. Fog. D. JPEG compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front left, there is a stationary red car (<c1,CAM_FRONT_LEFT,0.5931,0.7658>). Directly ahead, a white sedan (<c2,CAM_FRONT,0.6386,0.5592>) is moving forward. Behind to the left, a yellow sedan (<c3,CAM_BACK_LEFT,0.4156,0.7130>) is parked. At the back, a black SUV (<c4,CAM_BACK,0.8932,0.6620>) remains stationary. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Motion blur. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 straight ahead, and the fog does not alter its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? Those objects will be considered for future reasoning and driving decisions.",
    "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>. Despite the fog, these objects remain critical for decision-making.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier, and the fog does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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. The fog requires maintaining a safe distance.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerate and go straight. The fog reduces visibility, increasing the risk of collision if the vehicle accelerates.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to discern distant objects. A white van is moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.5261,0.5463>. To the front left, a pedestrian wearing black shorts is visible at <c2,CAM_FRONT_LEFT,0.9011,0.5787>. Behind the ego vehicle, a white sedan car is moving at <c3,CAM_BACK_RIGHT,0.5039,0.7658>, and another white sedan is directly behind at <c4,CAM_BACK,0.5239,0.5741>. A sitting person is located at the front of the ego vehicle at <c5,CAM_FRONT,0.2417,0.5537>. The fog adds a layer of complexity to the scene, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Snow. C. Zoom blur. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 car moving ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: the object is a white sedan, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 probability due to reduced visibility in fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, brake gently to a stop, considering reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front left, there is a stationary white sedan (<c1,CAM_FRONT_LEFT,0.7469,0.6408>). On the front right, a stationary white truck is visible (<c2,CAM_FRONT_RIGHT,0.0080,0.5111>). Behind the ego vehicle, a white sedan car is moving (<c3,CAM_BACK,0.5511,0.5908>). Directly in front, a black sedan is stationary (<c4,CAM_FRONT,0.5437,0.5741>), and a cone bucket is also present (<c5,CAM_FRONT,0.9333,0.8556>). Another white sedan is stationary on the front right (<c6,CAM_FRONT_RIGHT,0.7550,0.7021>). The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Saturate. C. Dark. D. Color quant",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving and turning right, as indicated by its position and trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary white commercial vehicle (<c1,CAM_FRONT,0.7386,0.5936>) and a black SUV (<c5,CAM_FRONT,0.5505,0.5481>). Behind the ego vehicle, a black sedan (<c2,CAM_BACK,0.7708,0.6352>) and a moving white pickup truck (<c4,CAM_BACK,0.5120,0.5824>) are visible. On the back left, a silver sedan (<c3,CAM_BACK_LEFT,0.3297,0.7463>) is stationary, while a white sedan (<c6,CAM_FRONT_LEFT,0.7547,0.7006>) is positioned to the front left. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Dark. C. Fog. D. Snow",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 pedestrian moving ahead, unaffected by the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front left, there is a pedestrian wearing a white shirt, moving steadily. Directly in front, a silver sedan is moving forward, maintaining its lane. Behind the ego vehicle, a yellow bus remains stationary. The fog creates a challenging environment, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Snow. C. Fog. D. Zoom blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: the object is a black Jeep, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the back of the ego vehicle, there is a black Jeep moving forward. 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. These objects are positioned at coordinates <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> respectively.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Color quant. C. Fog. D. JPEG compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the back of the ego vehicle, there is a moving black car (<c1,CAM_BACK,0.5583,0.5519>). In front, a stationary white business is visible (<c2,CAM_FRONT,0.8927,0.5861>). To the front right, a silver gray sedan is parked (<c3,CAM_FRONT_RIGHT,0.3469,0.7741>), and to the front left, a black SUV is stationary (<c4,CAM_FRONT_LEFT,0.6308,0.6037>). The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. H256 ABR compression. C. Fog. D. Zoom blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 are the important objects in the current scene under foggy 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 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": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 small car moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_FRONT,0.3609,0.5528> a traffic sign or a road barrier under foggy conditions?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 actions could the ego vehicle take based on <c1,CAM_FRONT,0.3609,0.5528> in foggy 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, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3609,0.5528> in foggy conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. Ahead, there is a black small car positioned at coordinates <c1,CAM_FRONT,0.3609,0.5528> and a white small car at <c2,CAM_FRONT,0.4458,0.5398>. Behind the ego vehicle, an indistinguishable object is moving at <c3,CAM_BACK,0.6011,0.5741>. Another black small car is also ahead at <c4,CAM_FRONT,0.2354,0.5092>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Motion blur. C. JPEG compression. D. Bit error",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 pedestrian with a yellow hat moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for the future reasoning and driving decision.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c2,CAM_FRONT_LEFT,0.7886,0.6667>?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the 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>). A pedestrian with a yellow hat is moving to the front left (<c2,CAM_FRONT_LEFT,0.7886,0.6667>). Behind the ego vehicle, there is a silver sedan to the back right (<c3,CAM_BACK_RIGHT,0.5156,0.7602>), a brown sedan directly behind (<c4,CAM_BACK,0.5062,0.6648>), and a silver business car to the back left (<c5,CAM_BACK_LEFT,0.2526,0.6426>). The fog adds a layer of complexity to the scene, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. Dark. D. Bright",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, what are the important objects in the current scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, what object should the ego vehicle notice first when 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 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, is <c1,CAM_BACK,0.4849,0.5944> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back of the ego vehicle, there is a silver sedan moving ahead, identified as <c1,CAM_BACK,0.4849,0.5944>. To the front left, a pedestrian is moving, identified as <c2,CAM_FRONT_LEFT,0.9386,0.7176>. Directly in front, there is a traffic element indicating straight, left turn, and right turn options, identified as <c3,CAM_FRONT,0.6144,0.6750>. The fog creates a challenging driving condition, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Fog. C. Snow. D. Bright",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "Yes, Explanation: The object is a red traffic cone, which serves as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a red traffic cone (<c1,CAM_FRONT,0.1906,0.7676>) and a person wearing a white shirt (<c4,CAM_FRONT,0.3433,0.6611>) moving ahead. To the front right, a white van (<c2,CAM_FRONT_RIGHT,0.6922,0.5509>) and a white sedan (<c3,CAM_FRONT_RIGHT,0.3000,0.5963>) are stationary. A red light (<c5,CAM_FRONT,0.9852,0.2991>) is visible, indicating a stop. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. H256 ABR compression. D. Sensor failure",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 a white shirt, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Change to the left lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to perceive distant objects. To the back of the ego vehicle, there is a stationary blue car located at coordinates <c1,CAM_BACK,0.8109,0.6741>. In front of the vehicle, to the left, a pedestrian wearing a white shirt is moving, positioned at <c2,CAM_FRONT_LEFT,0.5739,0.6361>. On the front right, a brown sedan car is stationary at <c3,CAM_FRONT_RIGHT,0.4328,0.7398>. The fog creates a diffused light effect, softening the outlines of buildings and trees along the road.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Color quant. C. Fog. D. Motion blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a silver car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. A silver car is moving to the back right of the ego vehicle, positioned at coordinates <c1,CAM_BACK_RIGHT,0.4146,0.7509>. Directly behind the ego vehicle is a black SUV at <c2,CAM_BACK,0.3646,0.5833>. To the front right, a stationary silver sedan is located at <c3,CAM_FRONT_RIGHT,0.2453,0.5963>, while a black car is stationary to the front left at <c4,CAM_FRONT_LEFT,0.4609,0.5676>. A green traffic light is visible ahead at <c5,CAM_FRONT,0.6440,0.2957>, guiding the vehicle through the foggy conditions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Color quant. C. Rain. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the back right of the ego vehicle, there is a stationary silver sedan. Ahead to the right, a gray SUV is moving forward, while another gray SUV is moving forward to the front left. Directly in front of the ego vehicle, a white truck is also moving forward. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Bit error. C. Fog. D. Motion blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. 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 coordinates <c3,CAM_BACK,0.4309,0.6047>. The fog creates a challenging scenario for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. C. Saturate. D. JPEG compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the front of the ego vehicle, there is a black small car positioned at coordinates <c1,CAM_FRONT,0.3401,0.5611>. Behind the ego vehicle, a gray car is moving, located at <c2,CAM_BACK,0.5443,0.5639>. A yellow traffic sign is also visible in front of the vehicle at <c3,CAM_FRONT,0.5927,0.5224>. The fog creates a challenging driving condition, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Saturate. C. Fog. D. JPEG compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black business car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to discern distant objects. To the front left of the ego vehicle, there is a stationary black business car, identified at coordinates <c1,CAM_FRONT_LEFT,0.8286,0.5852>. Behind the ego vehicle, a silver-gray sedan is moving, located at <c2,CAM_BACK,0.5401,0.5574>. Ahead, a yellow traffic sign is visible, positioned at <c3,CAM_FRONT,0.6292,0.4913>. The fog creates a diffused light effect, making the environment appear hazy and muted.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Snow. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 moving ahead, unaffected by the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a stationary pedestrian wearing a white shirt, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. To the front of the ego vehicle, there are two pedestrians: one wearing a white shirt and another wearing a red shirt. A white car is moving to the back left, and another white car is moving to the front right. A yellow traffic sign is positioned to the back right. The fog creates a challenging driving condition, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Zoom blur. C. H256 ABR compression. D. Color quant",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, 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 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, is <c1,CAM_BACK_RIGHT,0.1755,0.6472> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a pedestrian wearing black pants, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the back right of the ego vehicle, there is a pedestrian wearing black pants. Directly behind, a silver SUV is stationary. A black sedan is moving to the front left, while a pedestrian wearing a white shirt stands directly ahead. A black car is moving in front, and a pedestrian with an orange shirt is stationary to the front right. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Zoom blur. C. Fog. D. Dark",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a dark green truck, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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 in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a stationary dark green truck (<c1,CAM_BACK,0.7177,0.5806>). A pedestrian is moving to the back left (<c2,CAM_BACK_LEFT,0.5031,0.5694>). In front of the ego vehicle, there is a stationary white truck (<c3,CAM_FRONT,0.7052,0.4917>) and a stationary sanitation worker (<c4,CAM_FRONT,0.2620,0.5426>). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Saturate. C. Fog. D. Bit error",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 ahead, unaffected by the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 another 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a blue and white car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the front of the ego vehicle, there is a blue and white car moving ahead at coordinates <c1,CAM_FRONT,0.5792,0.6213>. Behind the ego vehicle, a blue truck is moving at coordinates <c2,CAM_BACK,0.4125,0.5231>. To the front right, a white commercial vehicle is moving at coordinates <c3,CAM_FRONT_RIGHT,0.4349,0.7661>. A pedestrian holding a black umbrella is walking to the front left at coordinates <c4,CAM_FRONT_LEFT,0.6239,0.5991>. Two traffic lights with green lights on are positioned at the front of the ego vehicle at coordinates <c5,CAM_FRONT,0.6933,0.4310> and <c6,CAM_FRONT,0.4500,0.4412>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Fog. C. Sensor failure. D. Snow",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: the object is a white SUV, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, there is a white SUV (center x: 0.5031, center y: 0.5310) and two white sedans (center x: 0.2297, center y: 0.5658 and center x: 0.5552, center y: 0.5491). A green traffic light is visible ahead (center x: 0.6502, center y: 0.4530). Behind the ego vehicle, a black sedan is moving (center x: 0.6828, center y: 0.6648). The fog creates a challenging driving environment, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Saturate. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy environment?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to see distant objects clearly. A black car is moving ahead in the front view, positioned at coordinates <c1,CAM_FRONT,0.2116,0.6054>. A white sedan is also visible in the front, located at <c2,CAM_FRONT,0.9323,0.5519>. On the roadside to the back left, a pedestrian is stationary at <c3,CAM_BACK_LEFT,0.1739,0.5547>. Another white sedan is moving in the front at <c4,CAM_FRONT,0.6167,0.5417>. A walking person is seen to the back right at <c5,CAM_BACK_RIGHT,0.5114,0.6898>, and a white sedan car is moving at the back at <c6,CAM_BACK,0.4599,0.5630>. The fog adds a layer of complexity to the scene, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. JPEG compression. D. Snow",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in fog? 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 the 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 the 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in fog?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, a pedestrian is moving along the side of the road, identified at coordinates <c1,CAM_FRONT,0.0469,0.6453>. Another group of people is walking on the roadside, visible at <c2,CAM_FRONT,0.4771,0.5639>. An orange car is moving to the back right of the ego vehicle, located at <c3,CAM_BACK_RIGHT,0.6886,0.6703>. The road is lined with trees and buildings, partially obscured by the fog, creating a challenging driving environment.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. C. Color quant. D. H256 ABR compression",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy conditions? 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 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 straight ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. A black car is moving ahead of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.6604,0.6314>. To the front, a person is riding a bicycle at coordinates <c2,CAM_FRONT,0.2052,0.6092>. Another pedestrian wearing a pink shirt and black pants is also moving ahead at coordinates <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 black sedan is moving directly behind at <c6,CAM_BACK,0.1351,0.6314>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Snow. B. Bit error. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change this status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a stationary white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, especially in reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. These actions are safe considering the reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary white sedan car at coordinates <c1,CAM_FRONT,0.7067,0.5611>. A pedestrian is moving ahead at <c2,CAM_FRONT,0.9521,0.5703>. Behind the ego vehicle, a gray commercial van is moving at <c3,CAM_BACK,0.5417,0.5509>. To the back left, a blue SUV is stationary at <c4,CAM_BACK_LEFT,0.8264,0.6769>. Additionally, a bicycle is stationary to the front at <c5,CAM_FRONT,0.8067,0.6009>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Fog. C. Color quant. D. Snow",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the fog?",
    "answer": "No, Explanation: The object is an orange and white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. To the front right of the ego vehicle, there is an orange and white truck (<c1,CAM_FRONT_RIGHT,0.1626,0.5338>). Directly in front, a white truck is stationary (<c2,CAM_FRONT,0.6261,0.4814>). Behind the ego vehicle, a blue sedan is moving (<c3,CAM_BACK,0.1552,0.5213>), while another blue sedan is stationary in front (<c4,CAM_FRONT,0.1198,0.5676>). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Bit error. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 ahead, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the ego vehicle is getting to the next possible location in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the back of the ego vehicle, there is a white truck moving ahead, identified at coordinates <c1,CAM_BACK,0.4547,0.5592>. Yellow traffic markings are also visible at the back, located at <c2,CAM_BACK,0.4396,0.6398>. In front of the ego vehicle, a white road sign is present at <c3,CAM_FRONT,0.7559,0.6411>. The road is lined with trees and the fog creates a diffused light effect, making it challenging to perceive distant objects clearly.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. Bit error. D. H256 ABR compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions when approaching the next possible 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 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front right, there is a stationary white commercial vehicle located at coordinates <c1,CAM_FRONT_RIGHT,0.3812,0.5722>. Directly ahead, a white truck is moving forward at coordinates <c2,CAM_FRONT,0.3234,0.4981>. Behind the ego vehicle, a yellow bike is stationary at coordinates <c3,CAM_BACK,0.6567,0.6028>. The fog creates a challenging environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Bit error. C. Rain. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, there is a white commercial vehicle moving to the right. Behind the ego vehicle, a dark gray van is stationary. To the front left, a pedestrian wearing a light purple shirt is moving, and a dark blue SUV is stationary. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Zoom blur. C. Fog. D. Sensor failure",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy conditions? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 and is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: the object is a pedestrian wearing white shorts, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front left, there is a pedestrian wearing white shorts, identified at coordinates <c1,CAM_FRONT_LEFT,0.6279,0.5731>. Directly in front, an orange bus is stationary at <c2,CAM_FRONT,0.0936,0.4960>. Behind the ego vehicle, a blue sedan is moving, located at <c3,CAM_BACK,0.4422,0.6213>. Another blue sedan is stationary to the front right at <c4,CAM_FRONT_RIGHT,0.1160,0.5806>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Zoom blur. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 despite the fog? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 pedestrian in red clothes, moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a pedestrian in red clothes, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front of the ego vehicle, there is a pedestrian in red clothes 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>. Another white sedan is visible in front at <c3,CAM_FRONT,0.3333,0.6444>, along with a red car at <c4,CAM_FRONT,0.9448,0.6120>. Additionally, a white sedan car is positioned to the front left at <c5,CAM_FRONT_LEFT,0.4609,0.6028>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. H256 ABR compression. C. Fog. D. Sensor failure",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 SUV moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision, Explanation: The object is stationary and positioned safely away from the ego vehicle's path.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front left, there is a stationary black car (<c1,CAM_FRONT_LEFT,0.6000,0.6750>). To the front right, a black SUV is moving (<c2,CAM_FRONT_RIGHT,0.6703,0.4981>). Behind the ego vehicle, there is an unclear moving object (<c3,CAM_BACK,0.4547,0.5936>). Directly in front, a white sedan is moving (<c4,CAM_FRONT,0.3667,0.6398>), and a red car is also moving in front (<c5,CAM_FRONT,0.5745,0.6269>). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Fog. C. Bright. D. Zoom blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, is <c1,CAM_FRONT,0.5323,0.5222> a traffic sign or a road barrier?",
    "answer": "No, Explanation: the object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. Ahead, a white truck is moving, positioned at coordinates <c1,CAM_FRONT,0.5323,0.5222>. Behind, a blue truck is also moving, located 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 in front at <c4,CAM_FRONT,0.5039,0.4546>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Rain. C. Fog. D. Motion blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. 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 in front, a black sedan is moving, located at <c2,CAM_FRONT,0.4401,0.5574>. Another white sedan is also moving ahead, positioned at <c3,CAM_FRONT,0.5614,0.5472>. The fog obscures distant buildings and road signs, making it challenging to see beyond a short distance.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Color quant. C. Rain. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 red car moving ahead, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in fog. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in fog?",
    "answer": "Accelerating and going straight can lead to a collision with <c3,CAM_FRONT,0.4748,0.5524>, especially in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. Key objects include a red car moving ahead 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>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Sensor failure. C. Fog. D. Motion blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the fog?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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 in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front right, there is a stationary black sedan (<c1,CAM_FRONT_RIGHT,0.7146,0.5602>). Directly ahead, a motorcycle is stationary (<c2,CAM_FRONT,0.6989,0.6028>), and another motorcycle is further ahead (<c5,CAM_FRONT,0.8724,0.7047>). Behind the ego vehicle, a silver sedan is moving (<c3,CAM_BACK,0.4177,0.6019>), followed by a white sedan also in motion (<c4,CAM_BACK,0.5261,0.5861>). The fog creates a challenging driving environment, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Snow. C. Fog. D. Rain",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and the fog does not alter its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front of the ego vehicle, there is a black SUV moving ahead at coordinates <c1,CAM_FRONT,0.3839,0.5481>. Behind the ego vehicle, a black car is stationary at <c2,CAM_BACK,0.5683,0.6991>. To the front left, a black car is moving at <c3,CAM_FRONT_LEFT,0.9839,0.5852>. A black sedan is stationary to the back right at <c4,CAM_BACK_RIGHT,0.8155,0.7657>. Another black car is moving to the front right at <c5,CAM_FRONT_RIGHT,0.3433,0.5731>. A red light is visible ahead at <c6,CAM_FRONT,0.5669,0.3339>, indicating a stop is necessary.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Zoom blur. C. Fog. D. JPEG compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, unaffected by the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a gray car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front right of the ego vehicle, there is a stationary gray car. Directly in front, there is a stationary white truck and a red car. Behind the ego vehicle, a white truck is moving. To the front left, another white truck is moving. The fog creates a challenging driving condition, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Color quant. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "In foggy conditions, what object should the ego vehicle notice first when 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is shrouded in dense fog, reducing visibility significantly. To the back of the ego vehicle, there is a white truck moving forward, located at coordinates <c1,CAM_BACK,0.5511,0.5314>. A silver sedan is stationary at the back, positioned at <c2,CAM_BACK,0.3036,0.6352>. In front of the ego vehicle, a white sedan is also stationary, located at <c3,CAM_FRONT,0.5440,0.5407>. The fog creates a challenging environment, making it crucial for the ego vehicle to rely on sensor data for navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. Bit error. D. Saturate",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 reduced visibility due to fog. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the back of the ego vehicle, there is a moving white truck positioned at coordinates <c1,CAM_BACK,0.5558,0.5324>. Nearby, a stationary white sedan is located at <c2,CAM_BACK,0.4849,0.5500>. In front of the ego vehicle, a stationary white bus is situated at <c3,CAM_FRONT,0.4130,0.5278>, and another stationary white sedan is at <c4,CAM_FRONT,0.5544,0.5431>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. Zoom blur. D. Snow",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a yellow carriage, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front right, there is a moving yellow carriage at coordinates <c1,CAM_FRONT_RIGHT,0.4255,0.3713>. Directly ahead, two stationary white trucks are positioned at <c2,CAM_FRONT,0.6474,0.5130> and <c3,CAM_FRONT,0.7626,0.5111>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Bit error. C. Fog. D. JPEG compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, and the fog does not affect its movement status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: The object is a stationary black pickup truck, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the front right, there is a stationary black pickup truck 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>, while another black sedan is stationary at the back right at <c4,CAM_BACK_RIGHT,0.2703,0.6926>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Motion blur. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 moving ahead, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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, even in fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility. To the back of the ego vehicle, there is a moving black car at coordinates <c1,CAM_BACK,0.5771,0.5722>. In front, an orange construction vehicle is stationary at <c2,CAM_FRONT,0.7026,0.5342>. Another black sedan is stationary at the back at <c3,CAM_BACK,0.5229,0.5583>. A pedestrian, a worker wearing fluorescent clothing, is stationary to the front right at <c4,CAM_FRONT_RIGHT,0.2739,0.6019>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. H256 ABR compression. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 ahead, and the fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 the silver SUV at the front camera. The object is moving ahead, so the ego vehicle should proceed with caution. Secondly, notice the white van at the left camera. The object is moving, so the ego vehicle should maintain awareness. Thirdly, notice the roadblock at the right camera. The object is a traffic element, so the ego vehicle should avoid it.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "Yes, Explanation: The object is a roadblock, and the fog does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? Why take this action and what's the probability?",
    "answer": "The action is to proceed with caution. The reason is that visibility is reduced due to fog, and the probability of safe passage is moderate.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front right, there is a roadblock, identified as a traffic element, located at coordinates <c1,CAM_FRONT_RIGHT,0.8620,0.8648>. 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, positioned at coordinates <c3,CAM_FRONT_LEFT,0.7688,0.4926>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. H256 ABR compression. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to see distant objects clearly. To the back of the ego vehicle, there is a black car moving, identified at coordinates <c1,CAM_BACK,0.3792,0.4953>. In front of the ego vehicle, a stationary black sedan is located at <c2,CAM_FRONT,0.9654,0.5342>, and a white coach, also moving, is positioned at <c3,CAM_FRONT,0.5389,0.4707>. The fog adds a layer of complexity to the driving environment, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Snow. B. Motion blur. C. Fog. D. H256 ABR compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy environment? 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 moving ahead, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy conditions?",
    "answer": "No, Explanation: The object is a silver business car, stationary, and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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 despite the fog. The probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,0.9573,0.6213>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary silver business car at coordinates <c1,CAM_FRONT,0.9573,0.6213>. A white SUV is moving ahead at <c2,CAM_FRONT,0.3609,0.5676>. Behind the ego vehicle, a black and white van is moving at <c3,CAM_BACK,0.5052,0.5630>. Additionally, a black car is moving ahead at <c4,CAM_FRONT,0.2458,0.5408>. The foggy conditions obscure distant objects and make it challenging to perceive the environment clearly.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Color quant. C. Fog. D. Zoom blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front of the ego vehicle, a white sedan is 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, positioned at <c2,CAM_BACK_LEFT,0.9261,0.5694>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. C. Fog. D. Dark",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not alter its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>. Despite the fog, these objects remain critical for decision-making.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, especially given the reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop. The fog necessitates cautious braking to ensure safety.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. Key objects include a white SUV located at the front right (coordinates: 0.1776, 0.5926), a white truck directly in front (coordinates: 0.8752, 0.5097), and a red and white truck to the back left (coordinates: 0.4977, 0.5059). Additionally, a white sedan is positioned at the front right (coordinates: 0.3214, 0.6186), a gray SUV is in front (coordinates: 0.7468, 0.5991), and a stationary black sedan is at the back (coordinates: 0.5135, 0.7259). The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. C. Color quant. D. Saturate",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving straight ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: the object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT,0.7083,0.5917>?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the front of the ego vehicle, there is a black SUV (center x: 0.7083, center y: 0.5917) and a white sedan (center x: 0.6167, center y: 0.5537). Behind the ego vehicle, a black sedan car is moving (center x: 0.5354, center y: 0.5583). Another white SUV is also visible in front (center x: 0.4354, center y: 0.5417). The fog makes it challenging to see beyond these immediate objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. H256 ABR compression. C. Fog. D. Bright",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 despite the fog? 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a bicycle on the roadside, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front of the ego vehicle, there is a 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 fog creates a diffuse light effect, making it challenging to discern details of the surroundings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bit error. C. JPEG compression. D. Snow",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in fog? 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to see distant objects clearly. A black car is moving ahead in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.5833,0.5231>. A white sedan is also moving ahead, located at <c2,CAM_FRONT,0.5339,0.5352>. Behind the ego vehicle, a silver SUV is moving, identified at <c3,CAM_BACK,0.5354,0.5741>. To the front right, a person in a wheelchair is moving, positioned 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 fog adds a layer of complexity to the driving conditions, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Rain. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving ahead, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a brown car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back of the ego vehicle, there is a moving brown car. To the front right, a white sedan is stationary. To the back right, a blue sedan is also stationary. The road is lined with trees and buildings, and the fog creates a diffused light effect, making it challenging to discern distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Snow. B. JPEG compression. C. Fog. D. Motion blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog?",
    "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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there are two moving vehicles: a black sedan at coordinates <c1,CAM_BACK,0.4886,0.5602> and a black car at <c2,CAM_BACK,0.5422,0.5750>. In front of the ego vehicle, a black motorcycle is stationary at <c3,CAM_FRONT_LEFT,0.4750,0.8317>, and a blue sedan is stationary at <c4,CAM_FRONT_RIGHT,0.6031,0.7083>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Snow. C. Fog. D. Rain",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions 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 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to see distant objects clearly. To the back of the ego vehicle, there is a moving black car at coordinates <c1,CAM_BACK,0.5052,0.5436>. In front of the ego vehicle, a stationary blue sedan is located at <c2,CAM_FRONT,0.7630,0.5814>. Another moving black SUV is positioned at the back with coordinates <c3,CAM_BACK,0.6099,0.5602>. The fog creates a diffused light effect, making it crucial for the ego vehicle to rely on sensor data for navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Color quant. C. Fog. D. Bright",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 when the ego vehicle is getting to the next possible location in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. To the front of the ego vehicle, there is a silver sedan moving ahead. To the front left, a white truck is stationary, and to the front right, pedestrians are crossing the road. The fog creates a challenging scenario for perception and decision-making, requiring careful attention to the positions and movements of these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Fog. C. Rain. D. Snow",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy conditions? 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a stationary pedestrian on the roadside, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> under foggy 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 follow the traffic rules, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there are pedestrians on the roadside, identified as <c1,CAM_FRONT,0.6594,0.5463>. A blue sedan, <c2,CAM_FRONT,0.5219,0.5380>, is moving ahead in the same direction as the ego vehicle. Behind the ego vehicle, a silver SUV, <c3,CAM_BACK,0.5427,0.5889>, is also moving. To the front left, a black car, <c4,CAM_FRONT_LEFT,0.4286,0.7827>, is in motion. The fog creates a challenging driving environment, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. H256 ABR compression. D. JPEG compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? 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, especially due to reduced visibility in fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. Key objects include a stationary black SUV located at the back of the ego vehicle, a moving blue car also at the back, a moving white car at the front right, and a stationary pedestrian in a gray jacket at the back right. The fog creates a challenging driving condition, requiring careful attention to these objects and their positions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Dark. C. Motion blur. D. H256 ABR compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Changing to the right lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. Ahead, a white sedan is stationary at coordinates <c1,CAM_FRONT,0.7484,0.6028>. Nearby, a white truck is also stationary at coordinates <c2,CAM_FRONT,0.7604,0.4963>. Behind, another white truck is moving forward at coordinates <c3,CAM_BACK,0.5521,0.5342>. The road is wet, and the surroundings are obscured by the dense fog, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Sensor failure. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white motorhome, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, especially in foggy conditions where visibility is reduced.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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, considering reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there is a stationary white motorhome at coordinates <c1,CAM_BACK,0.5167,0.5063> and a stationary black car at <c2,CAM_BACK,0.8479,0.7574>. In front, a black sedan is moving at <c3,CAM_FRONT,0.7406,0.5500>, and another black sedan is stationary to the front left at <c4,CAM_FRONT_LEFT,0.3858,0.7372>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bit error. C. Snow. D. Motion blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: The object is a stationary white truck.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the back of the ego vehicle, there is a stationary white truck and a black car. In front, there are several moving vehicles: a gray SUV, a white truck, a black sedan, and a gray sedan. The fog creates a challenging environment for perception and decision-making, requiring careful navigation and attention to the positions of these vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Rain. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a blue sedan car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front right, there is a moving blue sedan car (<c1,CAM_FRONT_RIGHT,0.0209,0.6139>). A black SUV is also moving to the front right (<c2,CAM_FRONT_RIGHT,0.5938,0.6564>). Directly ahead, another blue sedan is moving (<c3,CAM_FRONT,0.8542,0.6814>). Behind the ego vehicle, a red car is stationary (<c4,CAM_BACK,0.4500,0.7592>). A 'go straight' sign is visible to the back right (<c5,CAM_BACK_RIGHT,0.6689,0.9503>). The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. Zoom blur. D. Rain",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What are the important objects in the current scene considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c1,CAM_BACK,0.5130,0.6352> in the fog? 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 ahead, unaffected by the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_BACK,0.5130,0.6352> a traffic sign or a road barrier in the fog?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5130,0.6352> considering the fog? 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, even in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.5130,0.6352> in the fog?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to perceive distant objects. A white van is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.5130,0.6352>. A white sedan car follows closely behind the van at <c2,CAM_BACK,0.8313,0.7297>. Ahead, a gray SUV is visible at <c3,CAM_FRONT,0.6474,0.5944>, while a gray-white business is positioned to the front left at <c4,CAM_FRONT_LEFT,0.8667,0.6297>. A right turn sign is located in front of the ego vehicle at <c5,CAM_FRONT,0.4078,0.6176>. The fog creates a diffused glow around streetlights, adding to the challenge of navigating safely.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. C. Bit error. D. Snow",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front left, there is a stationary black car positioned at coordinates <c1,CAM_FRONT_LEFT,0.6739,0.5936>. Behind the ego vehicle to the right, a blue truck is stationary at coordinates <c2,CAM_BACK_RIGHT,0.1880,0.4778>. Directly behind, a black sedan is moving ahead at coordinates <c3,CAM_BACK,0.5443,0.5648>. The fog creates a challenging environment, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Fog. C. Dark. D. Zoom blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not alter its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front right of the ego vehicle, there is a black car moving ahead, identified as <c1,CAM_FRONT_RIGHT,0.1000,0.5297>. Directly behind the ego vehicle, a white SUV is also moving forward, identified as <c2,CAM_BACK,0.4656,0.5797>. To the back right, a silver sedan is in motion, identified as <c3,CAM_BACK_RIGHT,0.7927,0.5833>. The fog creates a challenging environment, requiring careful navigation and awareness of these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. C. Rain. D. JPEG compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver SUV, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back of the ego vehicle, there is a silver SUV moving ahead, identified at coordinates <c1,CAM_BACK,0.5531,0.5917>. To the front right, a pedestrian with a backpack is moving, located at <c2,CAM_FRONT_RIGHT,0.4011,0.6167>. Additionally, a yellow traffic sign is visible at the front right, positioned at <c3,CAM_FRONT_RIGHT,0.1047,0.4354>. The fog creates a challenging driving condition, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Color quant. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a yellow truck, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front of the ego vehicle, there is a yellow truck moving to the right at coordinates <c1,CAM_FRONT,0.5708,0.5074>. A black sedan is moving to the front left at <c2,CAM_FRONT_LEFT,0.7208,0.7646>. Behind the ego vehicle, a white SUV is moving at <c3,CAM_BACK,0.5573,0.5620>. Additionally, a pedestrian wearing black clothes is moving in front of the vehicle at <c4,CAM_FRONT,0.6969,0.5481>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Saturate. C. Rain. D. Motion blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 blue car moving ahead, and the fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front right of the ego vehicle, there is a blue car moving ahead, located at coordinates <c1,CAM_FRONT_RIGHT,0.7448,0.6389>. Directly in front, there are two white sedans, one at <c2,CAM_FRONT,0.2516,0.6342> and another at <c3,CAM_FRONT,0.4031,0.5287>. The road is barely visible, and streetlights are faintly illuminating the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the fog does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a moving white truck at coordinates <c1,CAM_BACK,0.6849,0.5324>. A stationary black sedan is located to the front right at <c2,CAM_FRONT_RIGHT,0.4274,0.6966>. Another stationary vehicle, a silver sedan, is positioned to the back right at <c3,CAM_BACK_RIGHT,0.5505,0.7083>. Additionally, a green traffic light is visible to the front at <c5,CAM_FRONT,0.4980,0.3700>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Snow. C. Sensor failure. D. Dark",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 that is moving ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a stationary white commercial vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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, accelerate, and go ahead.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. 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 white sedan is stationary at <c4,CAM_FRONT,0.9047,0.6806>, while a white truck is moving at <c5,CAM_FRONT,0.5094,0.5130>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. Rain. D. Dark",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in thick fog, reducing visibility significantly. To the front left, there is a white truck moving, identified at coordinates <c1,CAM_FRONT_LEFT,0.1432,0.4833>. A stationary black car is positioned at the front right, at <c2,CAM_FRONT_RIGHT,0.2636,0.6574>. Behind the ego vehicle, a black commercial vehicle is moving, located at <c3,CAM_BACK,0.9017,0.6361>. Directly in front, a white zebra crossing is visible at <c4,CAM_FRONT,0.3416,0.7904>. The fog creates a challenging driving environment, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Motion blur. C. Rain. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 black car turning left, and the fog does not change its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 the silver sedan at the left camera. It is stationary, so the ego vehicle should slow down and proceed cautiously due to fog. Secondly, notice the silver sedan at the left rear camera. It is stationary, so the ego vehicle should continue at the same speed while being cautious. Thirdly, notice the black car at the back camera. It is turning left, so the ego vehicle should slow down and proceed carefully.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a black car turning left, located at coordinates <c1,CAM_BACK,0.7137,0.5362>. On the back left, a stationary silver sedan is positioned at <c2,CAM_BACK_LEFT,0.2646,0.6481>. Another stationary silver sedan is at the front left, located at <c3,CAM_FRONT_LEFT,0.1278,0.5478>. The fog creates a challenging driving condition, requiring cautious navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. JPEG compression. C. Fog. D. Saturate",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 commercial vehicle turning right, and the fog does not affect its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 the white sedan car at the front camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice the black sedan at the left rear camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice the black commercial vehicle at the back camera. It is turning right, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. Ahead, a white sedan car is stationary, positioned at coordinates <c1,CAM_FRONT,0.5437,0.5056>. Behind the ego vehicle, a black commercial vehicle is moving, 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 fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Fog. C. Zoom blur. D. Rain",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in foggy conditions, turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn left because there is no safety issue, even in foggy conditions. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. Key objects include a black SUV moving behind the ego vehicle at coordinates <c1,CAM_BACK,0.7864,0.5759>, a stationary black unknown object to the front left at <c2,CAM_FRONT_LEFT,0.5500,0.5287>, a gray SUV stationary to the back left at <c3,CAM_BACK_LEFT,0.6630,0.7074>, and an orange roadblock behind the ego vehicle at <c4,CAM_BACK,0.2224,0.7056>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Fog. C. Rain. D. Motion blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, what are the important objects in the current scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, is <c1,CAM_BACK,0.5953,0.6297> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. 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 at <c3,CAM_FRONT,0.3120,0.5194>, and a white straight road sign is visible at <c4,CAM_FRONT,0.5270,0.6279>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Motion blur. C. Color quant. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 requires a left turn to avoid.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next possible location in fog? 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 in fog? 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is not a traffic sign or road barrier; it is moving.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in fog? 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in dense fog, reducing visibility significantly. The road curves gently to the left, with trees lining both sides. An orange object is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.6958,0.6241>. In front of the vehicle, a green object is stationary at <c2,CAM_FRONT,0.5776,0.5789>, and a purple object is also stationary at <c3,CAM_FRONT,0.6986,0.6102>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Motion blur. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the fog?",
    "answer": "No, Explanation: the object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. Key objects include a gray sedan moving to the left behind the ego vehicle at coordinates <c1,CAM_BACK,0.9339,0.7139>, a black SUV moving ahead in front of the ego vehicle at <c2,CAM_FRONT,0.3328,0.5797>, and a man carrying a black backpack to the back left at <c3,CAM_BACK_LEFT,0.8089,0.6463>. Additionally, there is a stationary silver-gray sedan at <c4,CAM_FRONT,0.0861,0.6380>, a stationary black sedan at <c5,CAM_FRONT,0.5036,0.5936>, and a moving red truck behind at <c6,CAM_BACK,0.5724,0.5898>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. Sensor failure. C. Fog. D. Bright",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking and turn left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. Key objects include a gray sedan moving to the back of the ego vehicle at coordinates <c1,CAM_BACK,0.9337,0.6880>, a black SUV moving in front at <c2,CAM_FRONT,0.2799,0.6153>, and a pedestrian wearing black clothes moving to the back left at <c3,CAM_BACK_LEFT,0.7995,0.6472>. Additionally, there is a stationary white SUV to the front left at <c4,CAM_FRONT_LEFT,0.8386,0.5908>, a stationary black sedan to the front at <c5,CAM_FRONT,0.3703,0.5880>, and a red truck moving to the back at <c6,CAM_BACK,0.6428,0.5579>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The gray sedan is moving and turning left, which is consistent with its observed behavior despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a yellow bicycle, which is stationary and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back left of the ego vehicle, there is a stationary yellow bicycle. Directly behind the ego vehicle, a gray sedan is moving and turning left. In front of the vehicle to the left, an orange and black construction sign indicates ongoing roadwork. The road is lined with trees and the fog creates a muted atmosphere, making it challenging to discern distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Saturate. C. Fog. D. Rain",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the back of the ego vehicle, there is a bus moving, identified at coordinates <c1,CAM_BACK,0.5698,0.5019>. In front of the ego vehicle, a red car is moving at <c2,CAM_FRONT,0.6141,0.6314>, and a white sedan is also moving at <c4,CAM_FRONT,0.0792,0.5722>. Additionally, a white car is moving at the back, located at <c3,CAM_BACK,0.5380,0.5342>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Motion blur. C. Fog. D. Saturate",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not change its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a stationary black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions when approaching the next 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 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. The road ahead is barely visible, with faint outlines of trees and buildings on either side. A black SUV is stationary at the back of the ego vehicle, located at coordinates <c1,CAM_BACK,0.8938,0.5009>. Another black car is also stationary at the back, positioned at <c2,CAM_BACK,0.8141,0.5667>. A white sedan is moving, turning right at the back, with coordinates <c3,CAM_BACK,0.4542,0.6213>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Snow. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 moving and turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary white small truck.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 can lead to a collision with <c1,CAM_FRONT_RIGHT,0.2500,0.6259> under foggy conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front right of the ego vehicle, there is a stationary white small truck located at coordinates <c1,CAM_FRONT_RIGHT,0.2500,0.6259>. Behind the ego vehicle, a white commercial vehicle is moving at coordinates <c2,CAM_BACK,0.8832,0.6250>. Directly in front, a white sedan is moving at coordinates <c3,CAM_FRONT,0.4500,0.5963>. Additionally, a black car is stationary behind the ego vehicle at coordinates <c4,CAM_BACK,0.3880,0.5630>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Fog. C. Saturate. D. Bit error",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and it is moving under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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>. The fog may obscure some details.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black car, stationary, and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, or keep going at the same speed, considering reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason is to follow traffic rules and ensure safety in low visibility, which has a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. Key objects include a stationary black car at the back of the ego vehicle, a stationary white truck and a moving black sedan at the front, another moving black sedan further ahead, a stationary yellow truck, and a red light. The fog creates a challenging scenario for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bit error. C. Sensor failure. D. H256 ABR compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog?",
    "answer": "No, Explanation: The object is a black SUV and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. 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. To the front left, a black SUV is also moving. A black traffic light is visible ahead. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Snow. B. Zoom blur. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 sedan moving under foggy conditions, which might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. A black sedan is moving behind the ego vehicle, identified as <c1,CAM_BACK,0.6594,0.5667>. To the front right, a pedestrian in blue pants is walking, identified as <c2,CAM_FRONT_RIGHT,0.5739,0.6408>, alongside another black sedan, <c3,CAM_FRONT_RIGHT,0.5489,0.5972>. A white shirt pedestrian is moving to the back right, <c4,CAM_BACK_RIGHT,0.4724,0.6259>, and an orange car is ahead, <c5,CAM_FRONT,0.3229,0.5082>. Lastly, a pedestrian in a black top is also to the back right, <c6,CAM_BACK_RIGHT,0.8761,0.7009>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Fog. C. Snow. D. Rain",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in foggy conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, especially in reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, slightly offset to the right, brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the back of the ego vehicle, there is a stationary white SUV (<c1,CAM_BACK,0.1651,0.7203>). In front, a red pickup truck (<c2,CAM_FRONT,0.4114,0.6481>) is moving. To the front right, a gray SUV (<c3,CAM_FRONT_RIGHT,0.6085,0.7009>) is stationary, and a pedestrian on a bicycle (<c4,CAM_FRONT_RIGHT,0.2776,0.6213>) is moving. A blue sedan (<c5,CAM_BACK,0.6229,0.7639>) is stationary at the back, and a red light (<c6,CAM_FRONT,0.5251,0.2813>) is visible ahead. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Color quant. C. Fog. D. Bright",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "In the fog, is <c1,CAM_FRONT,0.8271,0.5833> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a red pickup truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT,0.8271,0.5833>?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front of the ego vehicle, a red pickup truck is moving left, and a white pickup truck is also visible. A light gray SUV is stationary to the front right. Behind the ego vehicle, a blue sedan is stationary. A red light is visible ahead, indicating the need to stop. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Color quant. C. Rain. D. Dark",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary black car.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT_RIGHT,0.2052,0.6064>?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. 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>). A pedestrian crossing sign is visible to the front right (<c5,CAM_FRONT_RIGHT,0.6670,0.4403>).",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Zoom blur. C. Fog. D. JPEG compression",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 ahead in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: the object is a black SUV moving ahead, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT,0.4870,0.5314>?",
    "answer": "No such an action will lead to collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, there is a black SUV moving ahead, identified as <c1,CAM_FRONT,0.4870,0.5314>. Behind the ego vehicle, another black SUV is moving, identified as <c2,CAM_BACK,0.5380,0.5491>. A black sedan is stationary in front, identified as <c4,CAM_FRONT,0.3739,0.5814>. A pedestrian riding a bike is also stationary, identified as <c5,CAM_FRONT,0.7281,0.5556>. A red light is visible ahead, identified as <c6,CAM_FRONT,0.5153,0.4084>. The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Saturate. C. Sensor failure. D. Bit error",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, what are the important objects in the current scene for 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, is <c1,CAM_FRONT,0.2370,0.6269> a traffic sign or a road barrier?",
    "answer": "Yes, Explanation: The object is a cone bucket, which acts as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 can lead to a collision with <c2,CAM_FRONT,0.4406,0.4824> in foggy conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, there is a cone bucket at coordinates <c1,CAM_FRONT,0.2370,0.6269>. A white truck is moving ahead at <c2,CAM_FRONT,0.4406,0.4824>. On the front right, a silver sedan is stationary at <c3,CAM_FRONT_RIGHT,0.5514,0.7162>. A black sedan car is moving at <c4,CAM_FRONT,0.5813,0.5389>, and another black sedan is moving behind the ego vehicle at <c5,CAM_BACK,0.1547,0.7491>. A red light is visible at <c6,CAM_FRONT,0.6838,0.3664>, indicating a stop signal.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Fog. C. Snow. D. Bright",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back left of the ego vehicle, there is a stationary black SUV. In front of the vehicle, a white SUV is moving, while a pink and white business car is stationary to the front left. A pedestrian is waiting at the traffic lights to the front left. The traffic signal is visible ahead, though obscured by the fog. The coordinates 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": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Dark. C. Sensor failure. D. H256 ABR compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 and turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a pedestrian, specifically a man in a gray shirt, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back left of the ego vehicle, there is a pedestrian, a man in a gray shirt, moving and turning left. Directly in front of the ego vehicle, a gray sedan is moving ahead. To the front right, a stationary worker with a white hat is visible. The fog creates a challenging environment, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. Bit error. D. Bright",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 in the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy environment?",
    "answer": "No, Explanation: the object is a black car, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the back of the ego vehicle, there is a black car moving, identified by coordinates <c1,CAM_BACK,0.6958,0.5908>. In front, a black sedan is also moving, located at <c2,CAM_FRONT,0.1422,0.6417>. A stationary white sedan is positioned at <c3,CAM_FRONT,0.9781,0.6694>, and a white SUV is stationary at <c4,CAM_FRONT,0.7864,0.6047>. To the front right, a gray pickup truck is stationary at <c5,CAM_FRONT_RIGHT,0.5803,0.6689>. The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. Snow. D. JPEG compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c2,CAM_FRONT_RIGHT,0.1432,0.6324> in foggy 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 sedan, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What are the important objects in the current foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_FRONT,0.1969,0.6908> a traffic sign or a road barrier in the fog?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What object should the ego vehicle notice first in foggy conditions 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 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 the black car at the front camera. It is stationary, so the ego vehicle should remain stationary. Secondly, notice 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.1969,0.6908> in foggy 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, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary black car (coordinates: <c1,CAM_FRONT,0.1969,0.6908>). A black sedan is moving to the front right (coordinates: <c2,CAM_FRONT_RIGHT,0.1432,0.6324>), turning left. Pedestrians are also present on the road ahead (coordinates: <c3,CAM_FRONT,0.6500,0.6047>), moving forward. The fog creates a challenging environment, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Fog. C. Zoom blur. D. Rain",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in foggy conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver pickup truck, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a silver pickup truck moving slightly to the left. Behind the ego vehicle, a white truck is stationary. To the front right, a black car is stationary, and there is a no entry sign also to the front right. The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Snow. C. Fog. D. Bit error",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 business vehicle moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a white business vehicle 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white business vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back left of the ego vehicle, there is a moving white business vehicle at coordinates <c1,CAM_BACK_LEFT,0.8442,0.6028>. To the back right, a pedestrian wearing blue pants is moving at <c2,CAM_BACK_RIGHT,0.2745,0.6889>. In front of the ego vehicle, a black pickup truck is stationary at <c3,CAM_FRONT,0.2739,0.5537>, and a white truck is also stationary at <c4,CAM_FRONT,0.8313,0.4250>. The fog obscures distant objects, making it challenging to perceive the full scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. JPEG compression. C. Fog. D. Saturate",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the foggy conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy environment? 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 in the foggy conditions, turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black motorhome, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right, considering reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 fog reducing visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front left, there is a black motorhome moving, identified at coordinates <c1,CAM_FRONT_LEFT,0.7794,0.5197>. Directly ahead, a black SUV is moving at <c2,CAM_FRONT,0.2345,0.5451>. Behind the ego vehicle, a black sedan is moving at <c3,CAM_BACK,0.4109,0.6981>. A gray sedan is stationary to the front left at <c4,CAM_FRONT_LEFT,0.5062,0.5722>. A pedestrian wearing black pants is moving to the front right at <c5,CAM_FRONT_RIGHT,0.4542,0.5870>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Dark. C. Rain. D. Sensor failure",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 car moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: the object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility and making it challenging to identify objects at a distance. To the front right of the ego vehicle, there is a black car moving, identified at coordinates <c1,CAM_FRONT_RIGHT,0.1594,0.5722>. On the front left, a black SUV is also moving, located at <c2,CAM_FRONT_LEFT,0.9000,0.6481>. Directly ahead, a person is riding a motorcycle, positioned at <c3,CAM_FRONT,0.2859,0.5917>. Behind the ego vehicle, there is a white zebra crossing at <c4,CAM_BACK,0.3664,0.8046>. The fog creates a diffuse light effect, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. H256 ABR compression. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a person riding a motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the front left, there is a person riding a motorcycle, identified at coordinates <c1,CAM_FRONT_LEFT,0.4523,0.6579>. A red car is also moving in the same direction at <c2,CAM_FRONT_LEFT,0.3688,0.5333>. Behind the ego vehicle, a brown SUV is present at <c3,CAM_BACK,0.5073,0.6648>. Ahead, a traffic light shows green at <c4,CAM_FRONT,0.5214,0.4412>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Saturate. C. Motion blur. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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 sign 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": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is an orange bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front right of the ego vehicle, there is an orange bus moving, identified as <c1,CAM_FRONT_RIGHT,0.5880,0.5436>. Behind the ego vehicle, a black commercial vehicle is moving, identified as <c2,CAM_BACK,0.4609,0.6092>. Ahead, a silver sedan is moving, identified as <c3,CAM_FRONT,0.8734,0.6519>, and a red car is stationary, identified as <c4,CAM_FRONT,0.2870,0.5852>. Additionally, a 'please pass' sign is visible ahead, identified as <c5,CAM_FRONT,0.6968,0.4658>. The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Dark. C. Motion blur. D. Saturate",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 car moving in foggy conditions, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>. The fog may obscure some details.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even though fog may reduce visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 the white bicycle lane at the right camera. The object is a traffic sign, so the ego vehicle should turn right. Secondly notice the black car at the left camera. The object is turning left, so the ego vehicle should turn right. Thirdly notice the black small car at the left rear camera. The object is stationary, so the ego vehicle should turn right. Fog may affect the visibility of these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? 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, especially considering reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking. Foggy conditions require cautious driving.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front left, there is a black car moving, identified as <c1,CAM_FRONT_LEFT,0.2026,0.5380>. To the back left, a black small car is stationary, identified as <c2,CAM_BACK_LEFT,0.3203,0.6186>. A white bicycle lane is visible to the front right, identified as <c3,CAM_FRONT_RIGHT,0.5057,0.7596>. The fog obscures distant objects and requires careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Fog. C. Motion blur. D. Saturate",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 sedan moving ahead, unaffected by fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary white SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a stationary white SUV. To the front right, a white motorhome is stationary. Directly ahead, a black sedan is moving, and a red light is visible in the distance. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. C. Zoom blur. D. H256 ABR compression",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 in the fog, which may affect visibility and perception.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy conditions?",
    "answer": "No, Explanation: The object is a green bus, not a traffic sign or road barrier, despite the reduced visibility due to fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, slightly offset to the left.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. 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 moving, 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 fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. Snow. D. Bit error",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to perceive distant objects. A white truck is moving in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.0674,0.4167>. Another white truck is moving behind the ego vehicle, located at <c2,CAM_BACK,0.2672,0.5504>. A green traffic light is visible ahead at <c3,CAM_FRONT,0.7051,0.3099>. The fog creates a diffused light effect, making it crucial for the ego vehicle to rely on close-range sensors for navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. H256 ABR compression. C. Zoom blur. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, but the fog may obscure its exact trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, even though the fog might make it less visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. 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, another stationary white sedan is located at <c2,CAM_FRONT,0.8245,0.5491>. A moving black SUV is positioned at <c3,CAM_BACK,0.2396,0.5398> to the back, and a stationary red and white truck is at <c4,CAM_FRONT,0.4468,0.5158>. The fog creates a challenging scenario for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Snow. C. Zoom blur. D. Saturate",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is a black sedan moving slightly to the left, located at coordinates <c1,CAM_FRONT,0.3636,0.5620>. A stationary white sedan car is also visible in front, positioned at <c2,CAM_FRONT,0.2703,0.6000>. Additionally, a stationary black sedan is located to the front left of the vehicle at <c3,CAM_FRONT_LEFT,0.7511,0.5972>. The fog obscures distant objects, making it crucial for the ego vehicle to rely on close-range sensors.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. H256 ABR compression. B. Rain. C. Fog. D. Saturate",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions 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 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 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is a white SUV moving and turning left, positioned at coordinates <c1,CAM_FRONT,0.3677,0.5519>. Behind the ego vehicle, another white SUV is moving straight, located at <c2,CAM_BACK,0.5437,0.5481>. Additionally, a white sedan is also in front of the ego vehicle, turning left, at coordinates <c3,CAM_FRONT,0.2986,0.5624>. The fog creates a challenging driving condition, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Bright. C. Rain. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 yellow sedan moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a yellow sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions? 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a yellow sedan moving, identified at coordinates <c1,CAM_FRONT,0.5630,0.5806>. A pedestrian, a man wearing light blue jeans, is stationary at coordinates <c2,CAM_FRONT,0.7333,0.5797>. Behind the ego vehicle, a gray sedan is stationary at coordinates <c3,CAM_BACK,0.4391,0.5556>, and a white van is moving at coordinates <c4,CAM_BACK,0.5081,0.5452>. The fog creates a challenging driving environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Fog. C. Motion blur. D. Bit error",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 blue car turning right, and the fog does not alter its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front of the ego vehicle, a blue car is turning right, located at coordinates <c1,CAM_FRONT,0.6776,0.6009>. A silver sedan is moving straight ahead, positioned at <c2,CAM_FRONT,0.8766,0.6148>. Behind the ego vehicle, a white sedan is also moving straight, located at <c3,CAM_BACK,0.5016,0.6000>. The fog creates a challenging environment, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Fog. C. H256 ABR compression. D. Motion blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions when approaching the next possible 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 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.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT,0.3833,0.5463>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front of the ego vehicle, a gray sedan is visible, identified as <c1,CAM_FRONT,0.3833,0.5463>, and it is moving left. Behind the ego vehicle, a white SUV, identified as <c2,CAM_BACK,0.5052,0.5806>, is moving forward. A parking sign is also visible at the front, identified as <c3,CAM_FRONT,0.4021,0.5238>. The road is straight with clear lane markings, but the fog makes it challenging to see distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Snow. C. Saturate. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 that is turning right, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions when approaching the next 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 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front left of the ego vehicle, there is a stationary silver sedan. Directly in front, a black sedan is moving and turning right. On the front right, a red car is stationary. The fog creates a challenging driving condition, requiring careful navigation and attention to the positions of these vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Snow. B. Dark. C. Sensor failure. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 an orange-red bus, and it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 the pedestrian wearing a green shirt at the left camera. It is going ahead, so the ego vehicle should turn left. Secondly, notice the orange-red bus at the front camera. It is turning left, so the ego vehicle should turn left. Thirdly, notice the black small car at the right camera. It is turning left, so the ego vehicle should turn left.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is an orange-red bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2323,0.4722>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is an orange-red bus moving, identified at coordinates <c1,CAM_FRONT,0.2323,0.4722>. On the front left, a pedestrian wearing a green shirt is moving, located at <c2,CAM_FRONT_LEFT,0.3047,0.7028>. To the front right, a black small car is moving, positioned at <c3,CAM_FRONT_RIGHT,0.5849,0.5852>. The fog obscures distant objects, making it challenging to perceive the full scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Snow. C. JPEG compression. D. Motion blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in foggy conditions, maintaining its path.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the presence of fog?",
    "answer": "No, Explanation: the object is a gray sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? Why take this action and what's the probability?",
    "answer": "The action is to keep stationary, the reason is to follow the traffic rules and ensure safety in low visibility conditions, high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, a gray sedan is moving, identified at coordinates <c1,CAM_FRONT,0.2984,0.5991>. Behind and to the left, a stationary gray-green sedan is located 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>. Directly behind, a light gray sedan remains stationary at <c4,CAM_BACK,0.4797,0.7297>. A red traffic light is visible ahead at <c5,CAM_FRONT,0.6315,0.4329>, guiding the traffic despite the fog.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Rain. C. Fog. D. Dark",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy environment?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there is a stationary pedestrian wearing a gray shirt. In front, a silver sedan is moving ahead. Behind the ego vehicle, a white sedan and a black sedan are also moving. To the front left, a white SUV is in motion. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Snow. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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 object unable to confirm 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 white SUV turning left, and the fog does not alter its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 object should the ego vehicle notice first when approaching the next possible location in fog? 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 object unable to confirm 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, and fog does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in fog? 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, even in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. To the back right of the ego vehicle, there is a white SUV moving and turning left, located at coordinates <c1,CAM_BACK_RIGHT,0.2062,0.6269>. Directly behind the vehicle, there is an unknown object that is stationary at coordinates <c2,CAM_BACK,0.4224,0.5158>. Another object, unable to confirm its details, is moving behind the vehicle at coordinates <c3,CAM_BACK,0.3073,0.5842>. The road is barely visible, and the surrounding trees and potential obstacles are shrouded in fog.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Saturate. B. JPEG compression. C. Bright. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 ahead, but the fog may obscure its exact path.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily obscured by fog, reducing visibility significantly. A gray sedan is moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.3428,0.6324>. A stationary white sedan is positioned to the 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>. A pedestrian, a man with a red hat, is moving to the front left at <c4,CAM_FRONT_LEFT,0.8521,0.5908>. The traffic light ahead shows green at <c5,CAM_FRONT,0.9144,0.4198>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Sensor failure. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 ahead, unaffected by the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a gray sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. A gray sedan car is moving ahead in front of the ego vehicle, positioned 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 the ego vehicle, 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>. There are green traffic lights visible at <c5,CAM_FRONT_RIGHT,0.1835,0.4091> and <c6,CAM_FRONT,0.7141,0.3758>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. H256 ABR compression. C. Fog. D. Rain",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is a white sedan car moving left (coordinates: 0.7636, 0.6019). Behind the ego vehicle, a stationary white sedan is present (coordinates: 0.1432, 0.7111). To the front right, a blue SUV is stationary (coordinates: 0.5800, 0.6640). Directly in front, a black SUV is moving (coordinates: 0.5911, 0.5537), and to the front left, a black pickup truck is also moving (coordinates: 0.5479, 0.7472). A red light is visible ahead (coordinates: 0.6088, 0.2931). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. Bit error. C. Sensor failure. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c1,CAM_FRONT,0.4573,0.5769> in foggy 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 turning left, as indicated by its position and movement pattern.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What are the important objects in the current foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_FRONT,0.4573,0.5769> a traffic sign or a road barrier in foggy conditions?",
    "answer": "No, Explanation: the object is not a traffic sign or road barrier; it is identified as a moving object.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4573,0.5769> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is an orange object moving, identified at coordinates <c1,CAM_FRONT,0.4573,0.5769>. A blue object is moving behind the vehicle at <c2,CAM_BACK,0.5792,0.5944>. A stationary purple object is located at the front at <c3,CAM_FRONT,0.3636,0.5713>. To the front left, a stationary pink object is positioned at <c4,CAM_FRONT_LEFT,0.9029,0.4947>, and a moving brown object is behind at <c5,CAM_BACK,0.8566,0.4954>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Rain. C. Color quant. D. Motion blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in the fog, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>. The fog may obscure some details.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but fog may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_FRONT,0.4651,0.5120>?",
    "answer": "Accelerate and go straight. The fog reduces visibility, increasing the risk of collision if the vehicle accelerates.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The fog requires cautious driving to maintain safety.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to identify objects clearly. A white truck is moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.4651,0.5120>. Behind the ego vehicle, there are an orange truck at <c2,CAM_BACK,0.5958,0.5306>, a red truck at <c3,CAM_BACK,0.5261,0.5333>, and a stationary white SUV 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 fog creates a hazy atmosphere, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Color quant. C. Bright. D. Motion blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 sedan moving to the left, and the fog does not change its trajectory.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility. A black sedan is moving to the back of the ego vehicle at coordinates <c1,CAM_BACK,0.1626,0.7806>. A man in a green shirt is walking to the front left at <c2,CAM_FRONT_LEFT,0.6646,0.5009>. Another black SUV is moving behind the ego vehicle at <c3,CAM_BACK,0.5766,0.6564>, and a black sedan is ahead at <c4,CAM_FRONT,0.5729,0.5917>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Fog. C. Bit error. D. Snow",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back right of the ego vehicle, there is a stationary gray sedan (<c1,CAM_BACK_RIGHT,0.3547,0.7130>). Directly behind the ego vehicle, a green bus is moving and turning left (<c2,CAM_BACK,0.1886,0.6361>). In front of the ego vehicle, a left turn landmark line is visible, indicating a potential turn (<c3,CAM_FRONT,0.5000,0.9194>). The fog creates a challenging driving condition, requiring careful attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Saturate. C. Rain. D. Snow",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 turning left, and the fog does not change its movement.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white small car, not a traffic sign or road barrier, and the fog does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and creating a challenging driving environment. A white small car is stationary in front of the ego vehicle, located at coordinates <c1,CAM_FRONT,0.6739,0.5750>. To the front right, a red small car is turning left, positioned at <c2,CAM_FRONT_RIGHT,0.0261,0.5981>. A red traffic light is visible ahead, at <c3,CAM_FRONT,0.5239,0.3076>. Buildings and other vehicles are partially obscured by the fog, necessitating cautious navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. JPEG compression. C. Bit error. D. Rain",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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, but the fog may obscure its exact path.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, but the fog may make it less visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, and brake gently to a stop, considering reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Back up, as the fog may obscure the SUV's position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there is a stationary black SUV (<c1,CAM_BACK,0.5839,0.7259>). In front, a white sedan (<c2,CAM_FRONT,0.4651,0.5658>) is moving, while a gray sedan (<c3,CAM_FRONT,0.0875,0.7620>) remains stationary. Another moving vehicle, a black sedan car (<c4,CAM_FRONT,0.6292,0.5556>), is also present. A traffic light (<c5,CAM_FRONT,0.4743,0.3944>) is visible ahead, though the fog may obscure its signals.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. Color quant. C. Dark. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 and turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a blue and white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the front of the ego vehicle, there is a stationary blue and white truck positioned at coordinates <c1,CAM_FRONT,0.5113,0.5570>. Behind the ego vehicle, a black sedan is moving at coordinates <c2,CAM_BACK,0.1958,0.5824>, and a blue sedan is also moving at coordinates <c3,CAM_BACK,0.5583,0.5926>. Additionally, a black traffic light is located to the front right of the ego vehicle at coordinates <c4,CAM_FRONT_RIGHT,0.5034,0.5279>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. Rain. D. JPEG compression",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the back of the ego vehicle, there is a moving white truck at coordinates <c1,CAM_BACK,0.4286,0.5528>. A stationary white truck is positioned to the front right at <c2,CAM_FRONT_RIGHT,0.5984,0.4926>. A pedestrian wearing gray clothes is moving to the back right at <c3,CAM_BACK_RIGHT,0.7542,0.6436>. Another stationary white truck is located at the back at <c4,CAM_BACK,0.2729,0.5574>. A black sedan car is moving to the front at <c5,CAM_FRONT,0.2068,0.5898>. The traffic light ahead shows green at <c6,CAM_FRONT,0.6416,0.2276>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Dark. C. Sensor failure. D. Zoom blur",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy scene?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> under foggy conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy weather? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a black car moving to the right, identified as <c1,CAM_FRONT,0.9948,0.7186>. A stationary object, which cannot be seen clearly, is also in front, marked as <c2,CAM_FRONT,0.4641,0.5797>. Behind the ego vehicle, a white sedan is moving, identified as <c3,CAM_BACK,0.6094,0.5694>. To the front left, a white business vehicle is moving, marked as <c4,CAM_FRONT_LEFT,0.7396,0.5694>. The foggy conditions make it challenging to discern details and require careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Zoom blur. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 ahead despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the fog?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, even with reduced visibility due to fog.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, considering the reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. Ahead, a white sedan is moving, located at coordinates <c1,CAM_FRONT,0.5271,0.5620>. A black car is also moving in front, positioned at <c2,CAM_FRONT,0.4313,0.6380>. Behind, a white sedan car is moving, seen at <c3,CAM_BACK,0.7120,0.5870>. A traffic light is visible through the fog at <c4,CAM_FRONT,0.2077,0.3447>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. H256 ABR compression. C. Saturate. D. Bit error",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "No, Explanation: The object is a blue sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back of the ego vehicle, there is a blue sedan moving, identified at coordinates <c1,CAM_BACK,0.8917,0.5787>. In front of the ego vehicle, a pedestrian is moving along the roadside, located at <c2,CAM_FRONT,0.1386,0.5481>. To the front right, an orange bicycle is stationary, positioned at <c3,CAM_FRONT_RIGHT,0.1594,0.6574>. The fog creates a challenging scenario for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Zoom blur. C. Bit error. D. Rain",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. A black small car is moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3812,0.5528>. A pedestrian wearing black clothes is moving to the front right of the ego vehicle at coordinates <c2,CAM_FRONT_RIGHT,0.5308,0.5722>. Two white lines are visible on the road at coordinates <c3,CAM_FRONT,0.3783,0.6051> and <c4,CAM_FRONT,0.2835,0.6070>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Zoom blur. C. Saturate. D. H256 ABR compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving to the right, as observed through the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front right, a white sedan is moving, identified as <c1,CAM_FRONT_RIGHT,0.7531,0.5889>. Directly ahead, a black SUV is proceeding forward, noted as <c2,CAM_FRONT,0.2036,0.5953>. Behind the ego vehicle, a black sedan is also moving forward, marked as <c3,CAM_BACK,0.7120,0.6287>. The fog creates a challenging driving condition, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. Fog. C. Bit error. D. Motion blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving to the right, which is visible despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: the object is a white SUV, not a traffic sign or road barrier, even though visibility is reduced by fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there is a white SUV moving to the right, 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 appears relatively empty, as noted at <c3,CAM_FRONT,0.5937,0.6243>. The fog creates a diffused light effect, making it challenging to discern distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. Bit error. D. Zoom blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 van moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. Key objects include a white van moving to the right in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.9859,0.7139>, a stationary white SUV also in front at <c2,CAM_FRONT,0.1886,0.5803>, a moving black car behind the ego vehicle at <c3,CAM_BACK,0.5339,0.5861>, a stationary white bus behind at <c4,CAM_BACK,0.4161,0.5370>, and a stationary white truck to the back left at <c5,CAM_BACK_LEFT,0.8808,0.4547>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Zoom blur. C. Bright. D. Sensor failure",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, and the fog does not alter its movement direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black sedan, stationary, and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a stationary black sedan located at coordinates <c1,CAM_BACK,0.8859,0.5944>. Another vehicle, a gray sedan, is moving to the right at coordinates <c2,CAM_BACK,0.4610,0.5841>. In the front left, a yellow construction vehicle is stationary at coordinates <c3,CAM_FRONT_LEFT,0.4016,0.5194>. The fog creates a challenging driving condition, requiring careful navigation and attention to the surroundings.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Motion blur. C. Fog. D. Zoom blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy 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 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary black car.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the back of the ego vehicle, there is a stationary black car and a gray sedan. To the back left, a white sedan is also stationary. In front of the ego vehicle, a black sedan is moving to the right, and a red traffic light is visible. The fog creates a challenging driving condition, requiring careful attention to the positions and movements of surrounding vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. JPEG compression. B. Color quant. C. Fog. D. Saturate",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a silver pickup truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed with caution due to reduced visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly, especially with reduced visibility, which can cause a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a silver pickup truck moving to the right. In front, to the left, there is a stationary black SUV. To the front right, pedestrians in blue and white checkered clothes are moving. A red light is visible to the back of the ego vehicle. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Bit error. C. Fog. D. Sensor failure",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions when approaching the next 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 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a silver truck moving to the right, located at coordinates <c1,CAM_BACK,0.3783,0.5889>. In front of the ego vehicle, a black sedan is stationary at coordinates <c2,CAM_FRONT,0.3901,0.6991>. To the front right, a woman wearing blue jeans is moving ahead at coordinates <c3,CAM_FRONT_RIGHT,0.4562,0.7824>. The fog obscures distant buildings and traffic lights, making it challenging to perceive the full scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Rain. C. H256 ABR compression. D. Bright",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 truck that is turning right, as observed in the foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the back of the ego vehicle, there is a stationary white sedan car (<c1,CAM_BACK,0.5042,0.7528>). In front, a white truck (<c2,CAM_FRONT,0.8583,0.4000>) is moving, while to the back left, a black sedan car (<c3,CAM_BACK_LEFT,0.5267,0.7526>) is also in motion. A white motorhome (<c4,CAM_FRONT_RIGHT,0.4980,0.4997>) is moving to the front right. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Snow. C. JPEG compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 moving ahead despite the foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black business car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> considering the fog? 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, even in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front right of the ego vehicle, there is a stationary black business car. Directly in front, a white and blue SUV is also stationary. Behind the ego vehicle, a white SUV is moving, while a white truck is stationary to the back left. To the front left, a white business vehicle is stationary. A red traffic light is visible ahead, indicating a stop. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bright. C. Color quant. D. Bit error",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What are the important objects in the current scene considering the fog? 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 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.2552,0.6500> considering the fog? 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_FRONT_RIGHT,0.2552,0.6500> a traffic sign or a road barrier considering the fog?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.2552,0.6500> considering the fog? 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "In this foggy 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": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to see distant objects clearly. To the front right of the ego vehicle, there is a black sedan moving, identified as <c1,CAM_FRONT_RIGHT,0.2552,0.6500>. Behind the ego vehicle, there is a black car, <c2,CAM_BACK,0.5604,0.5694>, and a black sedan car, <c3,CAM_BACK,0.4719,0.5703>. Ahead, a green light is visible, <c4,CAM_FRONT,0.6852,0.4432>, indicating that the road is clear to proceed. The fog creates a diffused glow around streetlights and vehicle headlights, adding to the atmospheric conditions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Zoom blur. C. Motion blur. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: the object is a gray business vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, brake gently to stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions can lead to a collision with <c1,CAM_BACK,0.2781,0.6250>?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the back of the ego vehicle, there is a moving gray business vehicle. In front, a stationary black sedan is visible. To the front right, a white truck is moving, and a black car is stationary. Two pedestrians are present: one with gray short sleeves to the front right and another with brown pants directly in front. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Bit error. C. Fog. D. Sensor failure",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in thick fog, reducing visibility significantly. To the back right, there is a red car moving, identified as <c1,CAM_BACK_RIGHT,0.8854,0.5806>. On the back left, a person is riding a black motorcycle, identified as <c2,CAM_BACK_LEFT,0.1021,0.6861>. A white truck is also moving on the back left, identified as <c3,CAM_BACK_LEFT,0.7464,0.5047>. Finally, a white sedan is moving to the front right, identified as <c4,CAM_FRONT_RIGHT,0.2667,0.5547>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Snow. C. Fog. D. Color quant",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, 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 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a pedestrian, specifically a man with a backpack.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility. To the front right, there is a stationary pedestrian, a man with a backpack, at coordinates <c1,CAM_FRONT_RIGHT,0.2562,0.5797>. Behind the ego vehicle, a white pickup truck is moving 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 fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Rain. C. H256 ABR compression. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the foggy 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 in the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: the object is a black car, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a black car moving, identified as <c1,CAM_BACK,0.3239,0.5889>. To the back left, a blue pickup truck is stationary, identified as <c2,CAM_BACK_LEFT,0.4942,0.6787>. In front of the ego vehicle, a red car is stationary, identified as <c3,CAM_FRONT,0.0370,0.7203>. To the front left, a white sedan car is stationary, identified as <c4,CAM_FRONT_LEFT,0.4255,0.7314>. The fog creates a challenging driving condition, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bit error. C. Motion blur. D. Sensor failure",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 SUV and is turning right despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy 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 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": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. A white SUV is positioned at the back of the ego vehicle, identified as moving and turning right. A man wearing white clothes is located to the back right, moving forward, while another man in black clothes is stationary to the back left. The fog creates a challenging driving condition, requiring careful navigation and awareness of these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Sensor failure. C. Saturate. D. Color quant",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What is the moving status of object <c1,CAM_BACK,0.4239,0.5861> in foggy 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 blue SUV moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What are the important objects in the current foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Is <c1,CAM_BACK,0.4239,0.5861> a traffic sign or a road barrier in foggy conditions?",
    "answer": "No, Explanation: The object is a blue SUV, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "What actions taken by the ego vehicle in foggy conditions can lead to a collision with <c1,CAM_BACK,0.4239,0.5861>?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a moving blue SUV at coordinates <c1,CAM_BACK,0.4239,0.5861>. To the front left, a stationary white van is located at <c2,CAM_FRONT_LEFT,0.2411,0.3547>. Directly in front, a pedestrian wearing a white shirt is moving 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 fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Bit error. C. Zoom blur. D. Color quant",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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 in the fog, which may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a yellow and white bus, not a traffic sign or road barrier, even though fog might obscure its details.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "Back up, as the fog reduces visibility and increases the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking; keep going at the same speed, as sudden movements can be dangerous in low visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. Key objects include a yellow and white bus located at the back of the ego vehicle, a walking person to the front left, a black sedan also at the back, another walking person at the back, a black car to the back left, and a silver sedan at the back. These objects are positioned at coordinates <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>. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. JPEG compression. C. Fog. D. Bit error",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 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": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in the fog? 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.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the foggy conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in thick fog, reducing visibility significantly. To the front of the ego vehicle, a white sedan car is moving, identified at coordinates <c1,CAM_FRONT,0.4797,0.5703>. To the front right, a blue sedan and another white sedan are moving, located at <c2,CAM_FRONT_RIGHT,0.2625,0.6000> and <c3,CAM_FRONT_RIGHT,0.4922,0.5880> respectively. A white van is also moving ahead at <c4,CAM_FRONT,0.0083,0.5278>. A red traffic light is visible at <c5,CAM_FRONT,0.4441,0.3788>, indicating the need for caution. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Color quant. B. Bit error. C. Zoom blur. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the foggy conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 front right of the ego vehicle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is heavily obscured by fog, reducing visibility significantly. To the front right of the ego vehicle, there is a white sedan car moving, identified as <c1,CAM_FRONT_RIGHT,0.0172,0.6203>. Behind the ego vehicle to the right, a black sedan is moving, identified as <c2,CAM_BACK_RIGHT,0.5005,0.7630>. Directly behind the ego vehicle, a black car is stationary, identified as <c3,CAM_BACK,0.5526,0.7037>. In front of the ego vehicle, a truck is stationary, identified as <c4,CAM_FRONT,0.2484,0.5444>. A red light is visible in front of the ego vehicle, identified as <c5,CAM_FRONT,0.5467,0.3571>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. B. Snow. C. H256 ABR compression. D. JPEG compression",
    "answer": "A. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog? 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 sedan, which is moving and turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in fog? 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a green construction vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary green construction vehicle located at coordinates <c1,CAM_FRONT,0.2179,0.5042>. A silver van, also stationary, is positioned at <c2,CAM_FRONT,0.3786,0.5408>. Additionally, a white sedan is moving and turning right at <c3,CAM_FRONT,0.4755,0.5231>. The road is lined with barriers, and the fog creates a diffused light effect, making it challenging to discern distant objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Zoom blur. B. Fog. C. Sensor failure. D. Color quant",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the fog? 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": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: the object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking; brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. To the back of the ego vehicle, there is a moving white truck (coordinates: 0.5344, 0.5009). To the front left, a stationary white sedan is visible (coordinates: 0.6552, 0.5703). Additionally, a stationary brown car is located to the back (coordinates: 0.9366, 0.5776), and another white sedan is stationary to the back left (coordinates: 0.6458, 0.6056). The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Fog. C. Bit error. D. Dark",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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, and the fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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>. The fog may obscure some details but these objects remain important.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The fog requires cautious driving but does not necessitate immediate changes.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, as the fog does not affect the safety assessment of this object.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility and making it challenging to see distant objects clearly. Key objects include a black car positioned at the back right, a white sedan at the front right, a black sedan at the front left, another black sedan at the back, a white and yellow commercial vehicle at the front right, and a white sedan at the front left. The fog adds a layer of complexity to the scene, requiring careful attention to these objects' positions: <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": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Dark. B. Fog. C. Snow. D. Bright",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 considering the foggy 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": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 in foggy conditions, which might affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in the fog?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, even in foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, even in foggy conditions. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,0.4245,0.6148>, especially in foggy conditions where visibility is reduced.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is heavily foggy, reducing visibility significantly. In front of the ego vehicle, there is a black pants pedestrian moving, identified at coordinates <c1,CAM_FRONT,0.4245,0.6148>. To the front right, a stationary black sedan is located at <c2,CAM_FRONT_RIGHT,0.2583,0.8028>. Another stationary gray sedan is positioned directly in front at <c3,CAM_FRONT,0.2505,0.6842>. Another pedestrian in black pants is also moving in front at <c4,CAM_FRONT,0.4677,0.6370>. A red and white cone bucket is visible to the front left at <c5,CAM_FRONT_LEFT,0.8161,0.8519>. Finally, a stationary black car is behind the ego vehicle at <c6,CAM_BACK,0.7978,0.7722>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Bright. C. Fog. D. Zoom blur",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, which remains unchanged despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, 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 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions, is <c1,CAM_FRONT,0.3719,0.5908> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a person on a motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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": "Considering the fog, what object should the ego vehicle notice first 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 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. To the front of the ego vehicle, there is a person wearing black clothes riding a red motorcycle, located at coordinates <c1,CAM_FRONT,0.3719,0.5908>. A blue sedan is also in front, turning right, positioned at <c2,CAM_FRONT,0.7552,0.5981>. Behind the ego vehicle, a red car is moving forward, located at <c3,CAM_BACK,0.5344,0.6064>. The fog creates a challenging scenario for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Fog. C. Zoom blur. D. Color quant",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 sedan turning right, even under foggy conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 the ego vehicle is getting to the next possible location in foggy 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 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, a silver sedan is visible, identified as <c1,CAM_FRONT,0.1906,0.6139>, and it is moving by turning right. To the front right, another silver sedan, <c2,CAM_FRONT_RIGHT,0.0255,0.6083>, is moving straight ahead. Behind the ego vehicle, a stationary blue sedan, <c3,CAM_BACK,0.5286,0.7176>, is present. The fog creates a challenging environment, requiring careful navigation and heightened awareness of these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Sensor failure. C. Bit error. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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, and the fog does not affect its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "No, Explanation: The object is a person riding a motorcycle, not a traffic sign or road barrier, even in fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a person riding a motorcycle, positioned at coordinates <c1,CAM_FRONT,0.0938,0.6481>. Behind the ego vehicle, a gray minivan is moving, located at <c2,CAM_BACK,0.4567,0.6186>. A black SUV is stationary to the front left, at <c3,CAM_FRONT_LEFT,0.5833,0.7564>. Additionally, a white motorhome is stationary directly in front, at <c4,CAM_FRONT,0.3094,0.5556>. The fog creates a challenging driving environment, obscuring distant objects and requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Rain. B. Bright. C. Snow. D. Fog",
    "answer": "D. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 white truck turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, 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": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a white truck turning right, located at coordinates <c1,CAM_FRONT,0.2432,0.4972>. Behind the ego vehicle, a person wearing yellow clothes is moving, positioned at <c2,CAM_BACK,0.8771,0.6000>. A gray SUV is also moving behind the vehicle at <c3,CAM_BACK,0.5734,0.6278>. To the front right, another person in yellow clothes is moving at <c4,CAM_FRONT_RIGHT,0.3901,0.6241>. The fog creates a challenging environment for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Sensor failure. B. Fog. C. Motion blur. D. Saturate",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy 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 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 truck moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 under foggy conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. A white truck is moving ahead in the center front of the ego vehicle. A pedestrian in black short sleeves is crossing the road in front of the vehicle. Another pedestrian wearing a white shirt is visible to the front left. A stationary sedan is located behind the ego vehicle. The fog creates a challenging driving condition, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Motion blur. B. Saturate. C. Fog. D. Sensor failure",
    "answer": "C. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 fog does not change its direction.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? 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 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 another 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": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the fog does not alter its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, even in foggy conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The environment is shrouded in fog, reducing visibility significantly. Key objects include a black car moving to the front right of the ego vehicle at coordinates <c1,CAM_FRONT_RIGHT,0.5466,0.7209>, a gray sedan directly in front at <c2,CAM_FRONT,0.4207,0.6254>, and an orange car behind at <c3,CAM_BACK,0.4863,0.6850>. Two cyclists are moving to the front left at <c4,CAM_FRONT_LEFT,0.1151,0.5426> and <c5,CAM_FRONT_LEFT,0.7604,0.5469>. The fog creates a challenging driving scenario, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bright. B. Fog. C. Zoom blur. D. Motion blur",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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, which is turning right despite the fog.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scene? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 approaching the next location in foggy 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 the pedestrian wearing a helmet at the left camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice the silver truck at the front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice the silver sedan at the back camera. The object is turning right, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a stationary silver truck, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in dense fog, reducing visibility significantly. To the front of the ego vehicle, there is a stationary silver truck positioned at coordinates <c1,CAM_FRONT,0.2594,0.5574>. Behind the ego vehicle, a silver sedan is moving and turning right at coordinates <c2,CAM_BACK,0.4636,0.6241>. To the front left, a pedestrian wearing a helmet is stationary at coordinates <c3,CAM_FRONT_LEFT,0.3614,0.6314>. The fog creates a challenging environment, requiring careful navigation and attention to these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./Fog/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. Bit error. B. Fog. C. Zoom blur. D. JPEG compression",
    "answer": "B. Fog",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy 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 moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy 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 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": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 in foggy conditions?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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> in foggy conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 foggy scenario, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/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 fog. Include both general description and key objects and their positions.",
    "answer": "The scene is enveloped in fog, reducing visibility significantly. To the front of the ego vehicle, there is a black car moving to the right at coordinates <c1,CAM_FRONT,0.8917,0.6259>. A white sedan is stationary in front of the ego vehicle at <c2,CAM_FRONT,0.5047,0.5519>. Behind the ego vehicle, a gray sedan is stationary at <c3,CAM_BACK,0.5086,0.6950>. On the front right, a grey SUV is stationary at <c4,CAM_FRONT_RIGHT,0.4505,0.6547>, and a white commercial vehicle is also stationary at <c5,CAM_FRONT_RIGHT,0.6284,0.6532>. A red light is visible ahead at <c6,CAM_FRONT,0.5366,0.3534>, indicating the need for caution.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./Fog/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./Fog/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./Fog/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./Fog/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./Fog/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./Fog/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  }
]