[
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Color quant. B. Fog. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 4. D. 2",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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 and a black SUV to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.4886,0.5481> and <c3,CAM_FRONT,0.6058,0.5769>. The object at the back is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is moving ahead, but it is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "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. The object at the back is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a moving vehicle, but it is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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. However, the object is not visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535658934028113.jpg"
    }
  },
  {
    "scene_token": "da41ecbc644b4915b84bb732e35ebf8c",
    "frame_token": "7e4c3282bc2a4402b5d1d6705f9eb844",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the framelost corruption?",
    "answer": "Keep going at the same speed, accelerate, and continue ahead. The object at the back is not visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. To the front of the ego vehicle, there is a stationary gray sedan located at coordinates <c2,CAM_FRONT,0.4886,0.5481> and a stationary black SUV at coordinates <c3,CAM_FRONT,0.6058,0.5769>. The back view is completely obscured, making it impossible to see the moving gray sedan that was previously detected. The road appears clear ahead, allowing for safe continuation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535658934012637.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535658934004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535658934020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535658934037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535658934047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Dark. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 2. D. 1",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The object is a white truck moving ahead, but due to framelost corruption, it may not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915624377813.jpg"
    }
  },
  {
    "scene_token": "ab6eea0e06c84f70be411a9d36636a7a",
    "frame_token": "2d493b2677f84ca190bb6c205899251a",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black pickup truck to the back of the ego vehicle, a white truck to the front right of the ego vehicle, a yellow truck to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5364,0.4806>, <c2,CAM_FRONT_RIGHT,0.8911,0.4620>, <c3,CAM_FRONT,0.2911,0.4630>, and <c4,CAM_BACK,0.7927,0.5056>. However, due to framelost corruption, some objects might not be visible in certain frames.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black pickup truck, but it may not be visible in all frames due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up. Explanation: The black pickup truck is stationary, but framelost corruption might cause it to be intermittently invisible, increasing collision risk if backing up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario, what are safe actions to take for the ego vehicle considering the framelost corruption?",
    "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. Explanation: These actions are safe, but framelost corruption requires extra caution as objects may not be consistently visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment consists of an industrial area with several trucks and a few trees lining the road. A black pickup truck is stationary at the back of the ego vehicle. A white truck is moving to the front right, while a yellow truck is stationary directly in front. A black SUV is moving at the back. Due to framelost corruption, some of these objects might not be visible in every frame, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915624362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915624354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915624369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915624387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915624397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Sensor failure. C. Fog. D. Zoom blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 6. D. 0",
    "answer": "B. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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>. However, some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.7380,0.5926> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "C, Explanation: The object is a black small sedan moving ahead, but visibility may be affected by framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.7380,0.5926> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black small sedan, not a traffic sign or road barrier, though visibility may be compromised by framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that 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. Visibility may be affected by framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left, decelerate gradually without braking. The actions remain safe despite potential visibility issues due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290858178113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "818a1bd7b7394194a85163c8d95958a9",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7380,0.5926> considering the framelost corruption? 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. Visibility may be affected by framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is rainy and overcast, with wet roads and reduced visibility. A black small sedan is moving behind the ego vehicle, a black SUV is stationary to the back left, and a black small car is stationary to the front left. Some objects may not be visible due to framelost, impacting the overall perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290858162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290858154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290858170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290858187559.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290858197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Fog. C. Rain. D. Saturate",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 1. C. 3. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8026,0.6222> and <c2,CAM_FRONT,0.8359,0.6167>. Due to frame loss, other objects are not visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.8026,0.6222> considering the frame loss corruption? 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, but due to frame loss, its current status is not visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.8026,0.6222> a traffic sign or a road barrier considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier. However, due to frame loss, it is not visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. Frame loss affects visibility, so cautious driving is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290861278113.jpg"
    }
  },
  {
    "scene_token": "08be42eb2186411d8e2201225329f1c6",
    "frame_token": "cc0114d0a58a49548f5bac6786851a08",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.8026,0.6222> considering the frame loss corruption?",
    "answer": "Back up. Due to frame loss, the position of the black car is not visible, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a rainy urban street with limited visibility due to frame loss. To the back of the ego vehicle, there is a black car, and to the front, a black sedan is stationary. The street is lined with parked cars, and the road surface appears wet. Due to frame loss, many objects are not visible, making navigation challenging.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290861262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290861254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290861270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290861287773.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290861297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Sensor failure. C. Zoom blur. D. H256 ABR compression",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 6. C. 3. D. 2",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.6261,0.6806> considering the framelost corruption? 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 and is moving ahead, despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6261,0.6806> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even with framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to turn left because the object has little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297248778113.jpg"
    }
  },
  {
    "scene_token": "d033fb0d79ea42b9a356fa5162172598",
    "frame_token": "36b3908ee5e64c4883a5a4b8980f5238",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with visible traffic lights and buildings. Due to framelost corruption, some camera views are unavailable, but key objects include a black SUV moving behind the ego vehicle, a stationary white car in front, a stationary yellow bus behind, and a stationary black car to the front right. The road is wet, indicating recent rain, and visibility is slightly reduced.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297248762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297248754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297248770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297248787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297248797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. JPEG compression. C. Bright. D. Snow",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 0. C. 4. D. 6",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a brown Jeep, and despite the framelost condition, it is identified as moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? 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": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when approaching the next location under framelost conditions? What is the state of the object that is first noticed by the ego vehicle 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": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.5172,0.5481> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a brown Jeep, not a traffic sign or road barrier, even with framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5172,0.5481> under framelost conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915264927813.jpg"
    }
  },
  {
    "scene_token": "bc4fd5a05a004333b9411754630f4cba",
    "frame_token": "f317f943545d4e3086bf375c93ff8dff",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5172,0.5481> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment shows a partially visible urban scene with several vehicles. A brown Jeep is moving to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.5172,0.5481>. A white van is stationary directly in front of the ego vehicle at <c2,CAM_FRONT,0.5583,0.5074>. A black sedan is stationary to the front right at <c3,CAM_FRONT_RIGHT,0.3747,0.7290>. The scene is affected by framelost, causing some views to be unavailable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915264912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915264904917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915264919956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915264937570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915264947478.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Snow. C. Fog. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 2. C. 1. D. 0",
    "answer": "B. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, a 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 sign to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4089,0.5102>, <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>. The white bus is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 its status is not affected by the framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and its identification is not affected by the framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729415428113.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "378b6469011f452daf80371beb17c5aa",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Accelerate and proceed, considering the visible objects and their positions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability, considering the visible objects.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is set in an urban environment with several high-rise buildings and construction sites visible. The ego vehicle is surrounded by various vehicles, including a white truck and a white pickup truck in front, and a golden car and a black sedan behind. A no right turn sign is visible to the front right. Due to framelost corruption, the white bus is not visible, which may affect the vehicle's perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729415412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729415404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729415420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729415437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729415447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. Sensor failure. C. Rain. D. Motion blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 2. D. 4",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost condition? 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, and despite the framelost condition, it is still moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.6999,0.7006> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, even with framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729398378117.jpg"
    }
  },
  {
    "scene_token": "c6da5920d2bc459bb3bc51ee6b9fdd7e",
    "frame_token": "344756cb198944cea21f886bd859136b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.6999,0.7006> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The scene shows an urban environment with several vehicles and a green light. A black SUV is moving to the front right of the ego vehicle, located at coordinates <c1,CAM_FRONT_RIGHT,0.6999,0.7006>. A black car is also moving to the front right at <c2,CAM_FRONT_RIGHT,0.2199,0.6148>. Directly in front, a white truck is visible at <c3,CAM_FRONT,0.3266,0.5370>. Behind the ego vehicle, a white bus is moving at <c4,CAM_BACK,0.4442,0.5436>. A black sedan is in front at <c5,CAM_FRONT,0.1609,0.6491>. The green light is visible at <c6,CAM_FRONT,0.5766,0.3392>. Despite the framelost condition, these objects are identified and considered for decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729398362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729398354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729398370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729398387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729398397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bit error. B. Snow. C. Motion blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 1. C. 5. D. 2",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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. The IDs of these objects are <c1,CAM_FRONT,0.4427,0.5389>. The silver sedan and blue car are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> given the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black car moving ahead, visible in the front camera.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss? 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. The silver sedan and blue car are not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, visible in the front camera.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202205627893.jpg"
    }
  },
  {
    "scene_token": "af128e79b77a4a4b8bfcd997c320b2a9",
    "frame_token": "73376e2fc5d34c758cc155facd35fffa",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4427,0.5389> considering the frame loss corruption? 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 the visible black car. The probability is low.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. A black car is moving ahead in the front camera view, positioned at coordinates (0.4427, 0.5389). The road is clear with no visible obstacles in the immediate path. The surrounding buildings and road elements are not visible due to the corruption, limiting the scene's context.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202205612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202205604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202205620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202205637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202205647426.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Saturate. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 5. D. 6",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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 frame loss does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a red car, and the frame loss does not change its identification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153707428136.jpg"
    }
  },
  {
    "scene_token": "78c5f7d7b547483c906d8524a8c3190f",
    "frame_token": "4c4e1e94e1364ef5a3c390d97be19ee1",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. A red car is stationary to the front right of the ego vehicle, located at coordinates (0.3661, 0.6759). A black sedan is moving to the back left, positioned at (0.3286, 0.5861), and another black sedan is moving directly behind at (0.4536, 0.5361). A pedestrian crossing line is visible in front of the ego vehicle at (0.3468, 0.8866).",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153707412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153707404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153707420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153707437573.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153707447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Saturate. C. Snow. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 6. C. 4. D. 3",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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>. Despite the framelost corruption, these objects are identified from the available frames.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 ahead, identified from the available frames despite framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a yellow sedan, not a traffic sign or road barrier, identified from the available frames despite framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Brake suddenly. Despite the framelost corruption, sudden braking could still lead to a collision with the yellow sedan.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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. This decision is made despite the framelost corruption, based on the available data.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The driving scene is partially obscured due to framelost corruption, but key objects are still identifiable. A yellow sedan is moving behind the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.6323,0.6314>. A person on a motorcycle is to the back right, at <c2,CAM_BACK_RIGHT,0.5146,0.7500>. Ahead, a yellow bus is visible to the front right at <c3,CAM_FRONT_RIGHT,0.7364,0.4342>, and a yellow roadblock is directly in front at <c4,CAM_FRONT,0.9389,0.3974>. The surrounding environment includes a road with some vegetation and overcast skies, contributing to the challenging conditions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986128412462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986128404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986128420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986128437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986128447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. Sensor failure. C. JPEG compression. D. Fog",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 0. C. 4. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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, and a pedestrian wearing black shorts to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.6188,0.5519> and <c3,CAM_FRONT,0.3104,0.5842>. The object at the back is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is not visible due to framelost, but its status was previously known as moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "answer": "Firstly, notice the 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 the black sedan at front camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. The object at the back is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is not visible due to framelost, but it was previously identified as a moving vehicle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Brake suddenly. The object is not visible due to framelost, but sudden braking could still lead to a collision if it is close.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability. The object is not visible due to framelost, so maintaining speed is safer.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. To the front of the ego vehicle, there is a stationary black sedan located at coordinates <c2,CAM_FRONT,0.6188,0.5519>. Additionally, a pedestrian wearing black shorts is moving ahead at coordinates <c3,CAM_FRONT,0.3104,0.5842>. The back view is not visible due to the corruption, limiting the perception of any objects in that area. The scene is urban with a building on the right and a road with marked lanes.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986133862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986133854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986133870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986133887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986133897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Saturate. C. JPEG compression. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 0. C. 5. D. 4",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.3614,0.6241> and <c2,CAM_FRONT,0.5558,0.5778>. The sedan to the back and the pedestrian to the front are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and it remains visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a pedestrian and remains visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193424927893.jpg"
    }
  },
  {
    "scene_token": "126aa95f38b649fa857d48672c8ad808",
    "frame_token": "71374b6b989e4000bfe6f5d70052c378",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.3614,0.6241> considering the frame loss?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is captured during nighttime with limited visibility due to frame loss. A pedestrian is moving to the front left of the ego vehicle at coordinates <c1,CAM_FRONT_LEFT,0.3614,0.6241>. A silver sedan is moving ahead of the ego vehicle at coordinates <c2,CAM_FRONT,0.5558,0.5778>. The environment is dimly lit with streetlights, and the road is marked with a zebra crossing. Other objects are not visible due to frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193424912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193424904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193424920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193424937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193424947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Sensor failure. C. Color quant. D. Zoom blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 5. D. 2",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 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 <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": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a silver white pickup truck, not a traffic sign or road barrier, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490007278113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "5292f0009e4644acb946f0a9eaae4e37",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is partially visible due to frame loss. To the front of the ego vehicle, there is a stationary black SUV. On the front right, a pedestrian wearing an orange shirt is moving. A red light is also visible on the front right. The environment is urban with tall buildings and a clear sky. Traffic is moderate, and the road is straight with a bike lane on the left.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490007262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490007254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490007270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490007287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490007297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. C. Sensor failure. D. Bit error",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 2. C. 1. D. 5",
    "answer": "C. 1",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost condition? 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, but due to framelost, it may not be visible in the image.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_BACK_RIGHT__1535490017778113.jpg"
    }
  },
  {
    "scene_token": "1c76efe7d0b048bc815c0445eeaa76ab",
    "frame_token": "8ae837b713ca4c17b150a15e6fcdaa49",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost condition? 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 pedestrian to the front 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>, <c3,CAM_FRONT,0.5214,0.6203>, and <c5,CAM_FRONT_RIGHT,0.1563,0.6963>. Due to framelost, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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. Framelost may affect visibility, but the action remains necessary.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition?",
    "answer": "Accelerate and go straight. Framelost may obscure the black SUV, increasing collision risk if not accounted for.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The scene is an urban environment with multiple vehicles and pedestrians. A black SUV is stationary in front of the ego vehicle, and a pedestrian is also visible in front. On the front right, a silver SUV is stationary. Due to framelost, some objects like the white SUV and silver sedan are not visible, affecting the full perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-57-39-0400__CAM_FRONT__1535490017762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_LEFT__1535490017754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-57-39-0400__CAM_FRONT_RIGHT__1535490017770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-57-39-0400__CAM_BACK__1535490017787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-57-39-0400__CAM_BACK_LEFT__1535490017797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Zoom blur. C. Color quant. D. Snow",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 2. C. 1. D. 4",
    "answer": "A. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and despite the frame loss, it is still identified as going ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? 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 frame loss, these objects are still recognized.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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. Despite the frame loss, these actions remain consistent.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white sedan, and despite the frame loss, it is not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114270177893.jpg"
    }
  },
  {
    "scene_token": "1fbcc26ebf6948bb964d3ae74939e8ea",
    "frame_token": "03d203bc6766450dbd430d425c9b3447",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss?",
    "answer": "Keep going at the same speed, slightly offset to the right. The frame loss does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Slight right turn. Despite the frame loss, this action remains a risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to frame loss, which affects the visibility of objects. However, key objects are still identified: a white sedan is moving ahead at coordinates (0.3042, 0.5408), a white traffic sign is stationary at coordinates (0.3073, 0.5941), and a white SUV is moving ahead at coordinates (0.2708, 0.5396). The ego vehicle must navigate carefully, maintaining awareness of these objects despite the reduced frame rate.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114270162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114270154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114270170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114270187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114270197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Saturate. C. Fog. D. Color quant",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 1. C. 4. D. 6",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 are the important objects in the current scene considering the frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, only a white SUV to the front of the ego vehicle and a white truck to the back right of the ego vehicle are visible. The IDs of these objects are <c4,CAM_FRONT,0.7172,0.5519> and <c5,CAM_BACK_RIGHT,0.5964,0.5158>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, but due to frame loss, it is not visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Is <c1,CAM_FRONT_RIGHT,0.8344,0.6676> a traffic sign or a road barrier considering frame loss?",
    "answer": "No, Explanation: The object is a traffic police wearing black pants, but due to frame loss, it is not visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 this scenario with frame loss, 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, considering the limited visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, but due to frame loss, the object is not visible. The probability of taking this action is high based on previous data.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. A white SUV is stationary at the front of the ego vehicle, positioned at coordinates <c4,CAM_FRONT,0.7172,0.5519>. A white truck is moving to the back right of the ego vehicle, positioned at coordinates <c5,CAM_BACK_RIGHT,0.5964,0.5158>. The rest of the scene is obscured, making it challenging to assess other potential hazards or objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728831362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728831354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728831370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728831387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728831397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Rain. C. Bright. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 0. D. 4",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, what is the moving status of object <c2,CAM_BACK,0.7229,0.5620>? 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, but due to framelost, it might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a 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>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, is <c1,CAM_FRONT_RIGHT,0.5864,0.8241> a traffic sign or a road barrier?",
    "answer": "Yes, Explanation: The object is a white obstacle, likely a road barrier, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, what actions could the ego vehicle take based on <c2,CAM_BACK,0.7229,0.5620>? 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. However, framelost may affect the visibility of the silver sedan.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, what actions taken by the ego vehicle can lead to a collision with <c2,CAM_BACK,0.7229,0.5620>?",
    "answer": "Back up. Framelost may obscure the silver sedan, increasing collision risk if backing up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with modern architecture and greenery. A white obstacle is positioned to the front right of the ego vehicle, though it may not be visible due to framelost. A silver sedan is moving behind the ego vehicle, and a black car is ahead. A cone-shaped barrier is located behind, and a pedestrian is walking to the front left. Framelost may cause intermittent visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931882162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931882154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931882170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931882187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931882197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Sensor failure. C. Bright. D. Saturate",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 4. C. 6. D. 5",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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 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> and <c5,CAM_FRONT,0.5989,0.5111>. The gray sedan and other cones are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "Yes, Explanation: The object is a red and white traffic cone, which is visible in the current frame.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up. Explanation: The object is a gray sedan, but it is not visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "209e9e9c3a2e4a399c44b6aa8be659d6",
    "frame_token": "348064aa35124ca080e3d52057f13005",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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. Explanation: These actions avoid potential unseen obstacles due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene shows a road with several traffic cones visible in the front camera view, indicating a construction or lane closure area. A worker wearing a yellow helmet is also visible, suggesting ongoing work. The environment appears to be urban with trees lining the street. Due to framelost corruption, some objects like the gray sedan and additional cones are not visible, which could affect the ego vehicle's decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537931866912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537931866904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537931866920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537931866937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537931866947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537931866927893.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Snow. C. Sensor failure. D. Fog",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 5. D. 3",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, only the white truck to the front left of the ego vehicle is visible. The ID of this object is <c1,CAM_FRONT_LEFT,0.3613,0.4337>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.3613,0.4337> under frame loss 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, visible despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering frame loss, 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?",
    "answer": "Firstly, notice the white truck at the left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Other objects are not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.3613,0.4337> a traffic sign or a road barrier under frame loss conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and is visible despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299228378113.jpg"
    }
  },
  {
    "scene_token": "0e247ba64b9d4a34a7256b6c173b1b5d",
    "frame_token": "2700a5b22cd14a0c81d452873d6d49d7",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. A white truck is moving ahead to the front left of the ego vehicle, located at coordinates <c1,CAM_FRONT_LEFT,0.3613,0.4337>. The rest of the scene is obscured, making it challenging to perceive other vehicles or obstacles. The road appears wet, indicating possible rain, and there are some visible road signs and infrastructure, but details are unclear due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299228362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299228354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299228370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299228387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299228397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Sensor failure. C. Dark. D. Rain",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 4. C. 3. D. 1",
    "answer": "A. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in the back camera? 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, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray-black sedan to the front of the ego vehicle. The IDs of these objects are <c3,CAM_FRONT,0.1344,0.5000>. Due to frame loss, objects at the back might not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss in the back camera?",
    "answer": "No, Explanation: The object is a white sedan car, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that gray-black sedan at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Due to frame loss, objects at the back might not be visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662766527893.jpg"
    }
  },
  {
    "scene_token": "4431d97ea17044ad9c09c13d16684054",
    "frame_token": "3348c4c56bf44be1b5eb8146d900f081",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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. Be cautious of unseen objects due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Back up. However, due to frame loss, the object might not be visible, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a parking area surrounded by trees and buildings. Due to frame loss, only the front view is visible, showing a gray-black sedan stationary at the front. The back view is obscured, making it difficult to identify other vehicles or objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662766512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662766504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662766520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662766537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662766547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Snow. C. Bright. D. Motion blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 0. C. 2. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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 crossing the road, and despite the framelost condition, it is still moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray SUV to the front left of the ego vehicle, a white truck to the front of the ego vehicle, pedestrians crossing the road to the front of the ego vehicle, a white motorhome to the back of the ego vehicle, and a white SUV to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6974,0.5889>, <c2,CAM_FRONT,0.4692,0.5064>, <c3,CAM_FRONT,0.6823,0.5602>, <c4,CAM_BACK,0.3229,0.5611>, and <c5,CAM_FRONT_RIGHT,0.3911,0.7797>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6974,0.5889> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a gray SUV, not a traffic sign or road barrier, even with framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.6974,0.5889> under framelost conditions?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537293226278113.jpg"
    }
  },
  {
    "scene_token": "b829278aae2747959f2a95423455bbcb",
    "frame_token": "e962e335984b400c8239157c0982f435",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.6974,0.5889> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with multiple stationary vehicles and pedestrians. A gray SUV is positioned to the front left of the ego vehicle, a white truck is directly in front, and pedestrians are crossing the road ahead. A white motorhome is located behind the ego vehicle, and a white SUV is to the front right. The scene is affected by framelost conditions, which may obscure some details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293226262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293226254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293226270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293226287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293226297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. Sensor failure. C. Fog. D. Color quant",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 2. D. 6",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, some objects may not be visible. However, there is 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 <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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.5833,0.5658> considering framelost corruption? 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, but it may not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5833,0.5658> a traffic sign or a road barrier considering framelost corruption?",
    "answer": "No, Explanation: The object is a blue bus, not a traffic sign or road barrier, but it may not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985204277893.jpg"
    }
  },
  {
    "scene_token": "9ac6dff089a84a6d8f066122443a10db",
    "frame_token": "7f32be25afaa443b835caa40b5e19b80",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5833,0.5658> considering framelost corruption? 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, although the object may not be visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. To the front left, there is a black SUV moving, and directly ahead, a pedestrian wearing a black shirt is crossing. A red and white signboard is positioned to the back left, while a red and blue sign is to the back right. A wide-angle lens is visible to the front right. The blue bus at the back is not visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985204262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985204254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985204270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985204287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985204297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. Sensor failure. C. H256 ABR compression. D. Bright",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 4. C. 6. D. 3",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering frame loss? 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, and a white straight left arrow to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.3391,0.5509> and <c3,CAM_FRONT,0.4589,0.5950>. The black car is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a black car, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss? 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?",
    "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. The black car is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985735177893.jpg"
    }
  },
  {
    "scene_token": "261e8288cf5647e396ab584e210e4ba1",
    "frame_token": "c491f4208578427196426474746a16f1",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering frame loss?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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. However, the black car may not be visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. In the visible frames, there is a pedestrian wearing a white shirt standing stationary in front of the ego vehicle. A white straight left arrow is visible on the road ahead, indicating the direction to follow. The surrounding area includes a bus stop with benches and some trees. The black car to the back right of the ego vehicle is not visible due to frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985735162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985735154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985735170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985735187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985735197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Saturate. C. Bit error. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 1. C. 3. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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 a road traffic sign 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black car moving ahead, and the framelost corruption does not affect its status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and framelost corruption does not affect this classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with a black car moving to the front right of the ego vehicle and another black car directly in front. Pedestrians are visible on the roadside, and a road traffic sign is present ahead. The framelost corruption affects some camera views, but the visible scene elements remain clear for decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985729162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985729154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985729170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985729187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985729197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Snow. C. JPEG compression. D. Bright",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 2. C. 5. D. 0",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost corruption, it may not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the back of the ego vehicle and a black SUV to the front of the ego vehicle. The IDs of these objects are <c2,CAM_BACK,0.6146,0.6417> and <c4,CAM_FRONT,0.5646,0.5528>. Due to framelost corruption, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but it may not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.2292,0.3686> considering the framelost corruption?",
    "answer": "No such action will lead to a collision, Explanation: The white truck is moving ahead and not in the path of the ego vehicle, but framelost corruption may affect visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299514878113.jpg"
    }
  },
  {
    "scene_token": "64ca274b5f69458bb5d21e0e2e071902",
    "frame_token": "e56e169f25274dc1bf12c25363ef6ddc",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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. Explanation: These actions avoid potential unseen obstacles due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a wet road near a building with a fish market and ATM. A black sedan is stationary near the front right of the ego vehicle, and a black SUV is stationary directly in front. Due to framelost corruption, some objects like the white truck may not be visible in all frames.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299514862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299514854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299514870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299514887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299514897414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 3. C. 4. D. 1",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, only the silver sedan to the front right of the ego vehicle and the black sedan to the front right of the ego vehicle are visible. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.7854,0.7694> and <c3,CAM_FRONT_RIGHT,0.0192,0.6297>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost 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 it remains visible despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Is <c1,CAM_FRONT_RIGHT,0.7854,0.7694> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, and it is visible despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.7854,0.7694> under framelost conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,0.7854,0.7694> as it is moving parallel to the ego vehicle.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, as the visible vehicles are moving parallel.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. A silver sedan is moving ahead to the front right of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.7854,0.7694>. Another black sedan is visible to the front right at <c3,CAM_FRONT_RIGHT,0.0192,0.6297>. The surroundings include urban infrastructure with buildings and trees, but some areas are not visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845355662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845355654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845355670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845355687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845355697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Bit error. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 3. D. 0",
    "answer": "B. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, but due to framelost, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the front of the ego vehicle, a 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>, <c3,CAM_FRONT,0.6970,0.6401>, <c4,CAM_FRONT,0.4754,0.4486>, and <c5,CAM_FRONT_RIGHT,0.1117,0.3769>. The white truck at the back is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3948,0.5592> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, but visibility may be affected by framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3948,0.5592> considering framelost conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728953928113.jpg"
    }
  },
  {
    "scene_token": "ab8bf18dfce14db4b8213b88f5dc1429",
    "frame_token": "e2143daf5b154add8ded09798da8d34e",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3948,0.5592> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The scene shows a road with a white SUV stationary in front of the ego vehicle. A right turn arrow is visible on the road, indicating a possible turn. A black traffic light is positioned ahead, controlling the intersection. To the front right, a white pillar is visible. The environment is urban with buildings and construction cranes in the background. Due to framelost, some objects, like the white truck at the back, are not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728953912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728953904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728953920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728953937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728953947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. C. Bright. D. H256 ABR compression",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 1. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, 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 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 <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": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the frame loss, what is the moving status of object <c2,CAM_FRONT,0.2714,0.5917>? 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 its status remains unchanged despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Given the frame loss, is <c1,CAM_FRONT,0.5377,0.5278> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a white truck, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5377,0.5278>?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the frame loss, in this 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": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to frame loss. A black sedan is moving ahead of the ego vehicle, positioned at coordinates <c2,CAM_FRONT,0.2714,0.5917>. Behind the ego vehicle, a black van is moving, located at <c3,CAM_BACK,0.5583,0.5842>. To the front left, a red SUV is moving, positioned at <c4,CAM_FRONT_LEFT,0.6823,0.6389>. The white truck is not visible due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621923612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621923604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621923620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621923637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621923647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Rain. C. Fog. D. H256 ABR compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 3. C. 2. D. 1",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 and a gray SUV to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.1380,0.6037> and <c2,CAM_BACK_RIGHT,0.7531,0.7056>. The other objects are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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, but it is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.1380,0.6037> a traffic sign or a road barrier considering framelost corruption?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659488528113.jpg"
    }
  },
  {
    "scene_token": "643ee37539844cb2b0453fd031a3afdd",
    "frame_token": "12a0559497ae4592b3e061a591f7c35e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.1380,0.6037> considering framelost corruption?",
    "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": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a street scene with some buildings and trees visible. Due to framelost corruption, only a black sedan is visible in front of the ego vehicle, and a gray SUV is visible to the back right. The black sedan is stationary, located at coordinates <c1,CAM_FRONT,0.1380,0.6037>, and the gray SUV is stationary at <c2,CAM_BACK_RIGHT,0.7531,0.7056>. Other vehicles and objects are not visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659488512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659488504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659488520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659488537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659488547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Bit error. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 1. C. 0. D. 4",
    "answer": "B. 1",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the back of the ego vehicle and a go straight and turn left to the front right of the ego vehicle. The IDs of these objects are <c2,CAM_BACK,0.6000,0.6120> and <c4,CAM_FRONT_RIGHT,0.5033,0.6594>. The pedestrian riding a motorcycle and the no entry sign are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is not visible due to frame loss, but its status is known to be moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a pedestrian riding a motorcycle, not a traffic sign or road barrier, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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. The object is not visible due to frame loss, but its known status does not require a change in action.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "No such action will lead to a collision. The object is not visible due to frame loss, but its known path does not intersect with the ego vehicle.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a road surrounded by trees and greenery, with a visible black sedan parked to the back of the ego vehicle. A traffic sign indicating 'go straight and turn left' is visible to the front right. The pedestrian riding a motorcycle and the no entry sign are not visible due to frame loss. The road is clear, with no immediate obstacles in the visible frames.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115026012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115026004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115026020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115026037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115026047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. JPEG compression. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 4. C. 3. D. 0",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost corruption, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 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> and <c3,CAM_FRONT_LEFT,0.6844,0.6491>. The back camera view is lost due to corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a stationary black car, not a traffic sign or road barrier, but visibility may be affected by framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478858128113.jpg"
    }
  },
  {
    "scene_token": "2bd47eabb64d4499862388cec180a7d1",
    "frame_token": "7d9df87d81e6443489a1e1c783f0fdaa",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "answer": "Firstly, notice that black SUV at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that black car at left camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. The back camera view is lost due to corruption.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 visibility may be affected by framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Moderate left turn. The visibility of the object may be affected by framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with parked cars along the sides. Due to framelost corruption, some camera views are unavailable, limiting visibility. A black car is stationary to the front left of the ego vehicle at coordinates <c1,CAM_FRONT_LEFT,0.1766,0.6287>. A black SUV is moving ahead to the front left at coordinates <c3,CAM_FRONT_LEFT,0.6844,0.6491>. The back camera view is lost, making it challenging to perceive objects behind the vehicle.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478858112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478858104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478858120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478858137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478858147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. JPEG compression. C. Fog. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 1. D. 3",
    "answer": "C. 1",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian moving ahead, but due to framelost, visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scene considering the framelost condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person wearing a white shirt to the front of the ego vehicle, a white truck to the front of the ego vehicle, a person wearing a white shirt to the front of the ego vehicle, and a person wearing a skirt to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.9625,0.6436>, <c2,CAM_FRONT,0.5776,0.5361>, <c3,CAM_FRONT,0.4594,0.5519>, and <c4,CAM_FRONT,0.2547,0.5842>. However, due to framelost, some objects might not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, but framelost may affect visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 can lead to a collision with <c1,CAM_FRONT,0.9625,0.6436> considering the framelost condition?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario, what are safe actions to take for the ego vehicle considering the framelost condition?",
    "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. Framelost may require more cautious actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with buildings on either side. Due to framelost, some camera views are missing, affecting visibility. Key objects include a pedestrian wearing a white shirt at coordinates <c1,CAM_FRONT,0.9625,0.6436>, a stationary white truck at <c2,CAM_FRONT,0.5776,0.5361>, another pedestrian wearing a white shirt at <c3,CAM_FRONT,0.4594,0.5519>, and a pedestrian wearing a skirt at <c4,CAM_FRONT,0.2547,0.5842>. The road is clear with directional arrows visible, but some objects might not be visible due to framelost.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884275612462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884275604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884275620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884275637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884275647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Motion blur. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 2. D. 5",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, but due to framelost, it might not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a brown SUV to the front right of the ego vehicle, a checkered shirt pedestrian to the front of the ego vehicle, a blue shirt and pedestrians to the front left of the ego vehicle, a man in a gray shirt to the front of the ego vehicle, and a grey van to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.4302,0.6556>, <c2,CAM_FRONT,0.2864,0.6389>, <c3,CAM_FRONT_LEFT,0.2542,0.3694>, <c4,CAM_FRONT,0.8531,0.6287>, and <c5,CAM_FRONT,0.6099,0.5991>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.4302,0.6556> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a brown SUV, not a traffic sign or road barrier, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost?",
    "answer": "Moderate right turn, Explanation: A moderate right turn could lead to a collision with the brown SUV, which might not be visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_BACK_RIGHT__1531884264777893.jpg"
    }
  },
  {
    "scene_token": "bc219c0fa63b43b4b9dddab47fce1fef",
    "frame_token": "519b85741bad4cb0b8c1164ac46fec6e",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, Explanation: Maintaining the current speed is safe, but caution is needed as objects might not be visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment consists of an urban street with tall buildings on either side. A brown SUV is moving to the front right of the ego vehicle. A pedestrian in a checkered shirt is moving in front of the vehicle, while another pedestrian in a blue shirt is to the front left. A man in a gray shirt is stationary in front of the vehicle. A grey van is also moving in front of the vehicle. Due to framelost, some objects may not be visible in all frames.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884264762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884264754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884264770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884264787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884264797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bit error. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 0. D. 3",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in some camera views? 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, visible in the back camera despite frame loss in other views.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene given the frame loss in some camera views? 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 and a green container to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5563,0.5564> and <c2,CAM_FRONT,0.5547,0.5231>. The black sedan is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? 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?",
    "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 car at back camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. The black sedan is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss in some camera views?",
    "answer": "No, Explanation: The object is a black car moving ahead, visible in the back camera despite frame loss in other views.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621757678113.jpg"
    }
  },
  {
    "scene_token": "670e01eb31b64b509db5290531254203",
    "frame_token": "6f7920553fa1441fb52daf651a72c4da",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with some frame loss affecting visibility. A black car is moving behind the ego vehicle, visible in the back camera. In front, a green container is stationary, visible in the front camera. The right side view is obscured due to frame loss, so the black sedan is not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621757662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621757654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621757670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621757687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621757697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Dark. D. Color quant",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 2. C. 3. D. 6",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, only the silver sedan and the street lamp are visible. The IDs of these objects are <c1,CAM_FRONT,0.4137,0.6890> and <c4,CAM_FRONT,0.1618,0.4211>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.2026,0.5658> under frame loss 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 moving black sedan, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a stationary silver sedan, visible despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800469877893.jpg"
    }
  },
  {
    "scene_token": "400b708de5d7434d8964da4a0246d164",
    "frame_token": "0a8499ecf7b140a180dfdf7e26ddf47b",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4137,0.6890> under frame loss conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary because there is no safety issue. The probability of taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a nighttime urban scene with significant frame loss, resulting in missing visual data. Visible objects include a stationary silver sedan at coordinates <c1,CAM_FRONT,0.4137,0.6890> and a street lamp at <c4,CAM_FRONT,0.1618,0.4211>. The road is dimly lit, and other vehicles or elements are not visible due to the frame loss. The scene suggests a quiet street with minimal traffic activity.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800469862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800469854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800469870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800469887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800469897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Dark. C. Saturate. D. Bright",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 4. D. 6",
    "answer": "B. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back left of the ego vehicle, a white SUV to the front left of the ego vehicle, a white SUV to the back of the ego vehicle, a white sedan to the back right of the ego vehicle, and a silver sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.2068,0.6028>, <c2,CAM_FRONT_LEFT,0.1901,0.6269>, <c3,CAM_BACK,0.2380,0.6694>, <c4,CAM_BACK_RIGHT,0.4933,0.7528>, and <c5,CAM_FRONT,0.6511,0.5917>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but due to frame loss, its visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.2068,0.6028> a traffic sign or a road barrier considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, but frame loss might affect its detection.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "4ed628299b1e45a3a73704e8cf8287a9",
    "frame_token": "c16bf051f78942748a4c96e93a3c6b6d",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, 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, considering potential visibility issues.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "No such action will lead to a collision, but frame loss may affect the perception of the vehicle's position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a dimly lit street at night, with several stationary and moving vehicles around the ego vehicle. To the back left, there is a black SUV, and to the front left, a white SUV. Directly behind is another white SUV, while a white sedan is positioned to the back right. A silver sedan is moving ahead of the ego vehicle. Due to frame loss, some objects may not be fully visible, affecting the overall perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542798960412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542798960404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542798960420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542798960437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542798960447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542798960427893.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. JPEG compression. C. Dark. D. H256 ABR compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 6. C. 4. D. 1",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 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> and <c4,CAM_FRONT,0.3469,0.5139>. The other objects are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss corruption? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is not visible due to frame loss, but the previous status was 'Going ahead'.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss corruption?",
    "answer": "No, Explanation: The object is a brown SUV and is visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, and brake gently to a stop. The visible objects do not pose an immediate threat.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728814928113.jpg"
    }
  },
  {
    "scene_token": "2d8e61ea27fd419ba9b708488e3f2f10",
    "frame_token": "140567e78a864aab948471c822edd0d5",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.6370,0.5797> considering frame loss corruption? 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 brown SUV is stationary and does not pose a safety issue, and the probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with a visible brown SUV to the front left and a white commercial vehicle to the front. The scene is partially obscured due to frame loss, with some areas completely blacked out. The road is clear, and there are no visible pedestrians or additional vehicles in the corrupted frames. The visible objects are stationary, and the scene appears calm with no immediate hazards.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728814912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728814904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728814920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728814937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728814947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Motion blur. C. Bright. D. Fog",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 6. C. 0. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but due to frame loss, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss corruption? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is a pedestrian wearing a black top to the front left of the ego vehicle, a white truck to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT_LEFT,0.9451,0.6250>, <c3,CAM_FRONT,0.4698,0.5241>, and <c4,CAM_FRONT,0.8505,0.5574>. The white SUV is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662735927893.jpg"
    }
  },
  {
    "scene_token": "2538a745a83f430eb590d48b4743e179",
    "frame_token": "4f2c710bf33c40a19faa754ecdfc6740",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, although the SUV may not be visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. A pedestrian wearing a black top is moving to the front left of the ego vehicle. Two stationary white trucks are positioned in front of the ego vehicle. The white SUV at the back is not visible due to frame loss. The scene includes a building and some greenery, but details are missing in some frames.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662735912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662735904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662735920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662735937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662735947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Bright. C. Sensor failure. D. Saturate",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 0. C. 4. D. 2",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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. The IDs of these objects are <c2,CAM_FRONT,0.6386,0.5592>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 it is visible in the current frame.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a red car, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "4098aaf3c7074e7d87285e2fc95369e0",
    "frame_token": "83472f9810a842ec9e0ade97077f7eea",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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, although the object is not visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with a visible white sedan moving ahead in front of the ego vehicle. The surroundings include a wall on the right side and some trees in the distance. Due to framelost corruption, other objects like the red car, yellow sedan, and black SUV are not visible. The scene appears to be a quiet street with minimal traffic.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533279688164387.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533279688154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533279688170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533279688187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533279688197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533279688177905.jpg"
    }
  },
  {
    "scene_token": "74d03e3b673f4a72a3f76e1b0c7840bd",
    "frame_token": "6e54dfd8cdf34ef7bb61e2284e9911b5",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. H256 ABR compression. B. Saturate. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 0. D. 6",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a white van moving ahead, but due to framelost corruption, its visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white van to the front of the ego vehicle, a pedestrian wearing black shorts to the front left of the ego vehicle, a white sedan car to the back right of the ego vehicle, a white sedan to the back of the ego vehicle, and a sitting person to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5261,0.5463>, <c2,CAM_FRONT_LEFT,0.9011,0.5787>, <c3,CAM_BACK_RIGHT,0.5039,0.7658>, <c4,CAM_BACK,0.5239,0.5741>, and <c5,CAM_FRONT,0.2417,0.5537>. Note that some objects may not be visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier. However, framelost corruption might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability. Framelost corruption may affect the visibility of the van, but the decision remains the same.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption?",
    "answer": "Accelerate and go straight. Framelost corruption might obscure the van, increasing the risk of collision if not cautious.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment features a road with clear lane markings and a bus stop to the left. A white van is moving ahead in the front camera view. A pedestrian wearing black shorts is visible to the front left. There is a white sedan car moving to the back right, and another white sedan is directly behind. A sitting person is also visible in the front camera view. Due to framelost corruption, some objects may intermittently disappear from view, affecting the overall perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-02-10-56-37+0800__CAM_FRONT__1538449267412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_LEFT__1538449267404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-02-10-56-37+0800__CAM_FRONT_RIGHT__1538449267420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-02-10-56-37+0800__CAM_BACK__1538449267437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-02-10-56-37+0800__CAM_BACK_LEFT__1538449267447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. Rain. C. Sensor failure. D. Bit error",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 2. C. 5. D. 0",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, its movement might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan to the front left of the ego vehicle, a white truck to the front right of the ego vehicle, a white sedan car to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a cone bucket to the front of the ego vehicle, and a white sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.7469,0.6408>, <c2,CAM_FRONT_RIGHT,0.0080,0.5111>, <c3,CAM_BACK,0.5511,0.5908>, <c4,CAM_FRONT,0.5437,0.5741>, <c5,CAM_FRONT,0.9333,0.8556>, and <c6,CAM_FRONT_RIGHT,0.7550,0.7021>. However, due to frame loss, some objects might not be visible at all times.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, but frame loss might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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. Frame loss may affect the timing of this action.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867347878113.jpg"
    }
  },
  {
    "scene_token": "35ecd252b8ee4cbc83376148e192a803",
    "frame_token": "bc854f31737440f9bbdc53291dae1ff4",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, brake gently to a stop. Frame loss may require more cautious decision-making.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with several stationary vehicles around. A white sedan is positioned to the front left, a white truck to the front right, and another white sedan car is moving behind the ego vehicle. A black sedan is directly in front, and a cone bucket is also visible in front. Due to frame loss, some objects might intermittently disappear from view, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867347862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867347854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867347870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867347887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867347897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 6. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, 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 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": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the frame loss, what is the moving status of object <c4,CAM_BACK,0.5120,0.5824>? 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, and despite the frame loss, it is identified as moving.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Given the frame loss, is <c1,CAM_FRONT,0.7386,0.5936> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, what actions could the ego vehicle take based on <c1,CAM_FRONT,0.7386,0.5936>? 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": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the frame loss, in this 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": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with tall buildings surrounding the area. Despite frame loss, a white commercial vehicle is stationary in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.7386,0.5936>. A black sedan is stationary behind the ego vehicle at <c2,CAM_BACK,0.7708,0.6352>. A silver sedan is to the back left at <c3,CAM_BACK_LEFT,0.3297,0.7463>. A white pickup truck is moving behind the ego vehicle at <c4,CAM_BACK,0.5120,0.5824>. A black SUV is stationary in front at <c5,CAM_FRONT,0.5505,0.5481>, and a white sedan is to the front left at <c6,CAM_FRONT_LEFT,0.7547,0.7006>. The scene is partially obscured due to frame loss, affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867341512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867341504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867341520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867341537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867341547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. H256 ABR compression. C. Bright. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 4. D. 0",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, the visibility of objects is compromised. However, there is a pedestrian wearing a white shirt to the front left of the ego vehicle, a yellow bus to the back, and a silver sedan to the front. 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.8656,0.6611> under frame loss 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, but visibility is affected by frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, though frame loss affects visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under frame loss 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 white shirt at the left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice the silver sedan at the front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice the yellow bus at the back camera. The object is stationary, so the ego vehicle should keep going ahead at the same speed. Frame loss affects the clarity of these observations.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.8656,0.6611> under frame loss 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. Frame loss does not change the action but affects the certainty.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194161677893.jpg"
    }
  },
  {
    "scene_token": "797700339b014fb6aa61c1ea3778d587",
    "frame_token": "fbc07f14f4ca4f9692e6139031e58161",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.8656,0.6611> under frame loss conditions?",
    "answer": "Sharp left turn. Frame loss increases the risk of misjudging the pedestrian's position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to frame loss, which affects visibility. To the front left, there is a pedestrian wearing a white shirt, identified at coordinates <c1,CAM_FRONT_LEFT,0.8656,0.6611>. Directly in front, a silver sedan is moving, located at <c3,CAM_FRONT,0.4995,0.5186>. Behind the ego vehicle, a stationary yellow bus is present at <c2,CAM_BACK,0.6234,0.5611>. The frame loss makes it difficult to maintain continuous visual tracking of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194161662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194161654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194161670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194161687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194161697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Snow. C. Motion blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 2. C. 4. D. 1",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, its visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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>. Frame loss may affect the visibility of these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black Jeep, not a traffic sign or road barrier, but frame loss may obscure its identification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289778028113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "c61f77e2820743f696047eec21d7807a",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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. Frame loss should be considered to ensure safety.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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. Frame loss may affect the decision-making process.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a large building visible in the background. Due to frame loss, some objects may not be visible. A black Jeep is moving behind the ego vehicle, a yellow construction truck is stationary in front, a pedestrian wearing a yellow shirt is moving in front, and a white sedan is moving to the front left. The scene is affected by frame loss, which may obscure some details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289778012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289778004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289778020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289778037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289778047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. Fog. C. Sensor failure. D. Color quant",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 6. C. 4. D. 5",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it may not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289772528113.jpg"
    }
  },
  {
    "scene_token": "2c96ff6afc9e4cf7bc8b107fce955c1f",
    "frame_token": "d90e838c4fd145d38d27063ad91fc13b",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 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>. Note that some objects may not be visible in all frames due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but it may not be visible in all frames due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. Be cautious of potential unseen objects due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up. The black car may not be visible in all frames due to framelost, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene depicts a rainy urban street with wet conditions. To the back of the ego vehicle, there is a black car moving ahead. In front, a white business vehicle is stationary. To the front right, a silver gray sedan is parked, and to the front left, a black SUV is stationary. Due to framelost corruption, some objects may intermittently disappear from view, requiring the ego vehicle to exercise caution.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289772512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289772504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289772520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289772537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289772547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Snow. C. Sensor failure. D. Bit error",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 3. C. 5. D. 4",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, some objects may not be visible. However, there is a black small car to the front of the ego vehicle and a white small car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3609,0.5528> and <c2,CAM_FRONT,0.4458,0.5398>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194208177893.jpg"
    }
  },
  {
    "scene_token": "19640fe4b6894f97b16e0faad51432b4",
    "frame_token": "c217fc7644164911a7e9cfd1858825ce",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3609,0.5528> under framelost 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 and is moving ahead, despite framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier, even under framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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, even under framelost conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is dark with limited visibility due to framelost corruption. Key objects include a black small car at position <c1,CAM_FRONT,0.3609,0.5528> and a white small car at position <c2,CAM_FRONT,0.4458,0.5398>. The road is dimly lit, and some objects may not be visible due to the corruption. The scene is challenging for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194208162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194208154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194208170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194208187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194208197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. H256 ABR compression. C. Sensor failure. D. Color quant",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 1. C. 6. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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. Despite the framelost condition, the pedestrian's movement is consistent.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? 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>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4891,0.9262> a traffic sign or a road barrier under framelost conditions?",
    "answer": "Yes, Explanation: The object is an orange and white traffic cone, which is considered a road barrier. Despite the framelost condition, its status remains unchanged.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_BACK_RIGHT__1533202615677893.jpg"
    }
  },
  {
    "scene_token": "2f093cad7209436aa06e103bfe062857",
    "frame_token": "8d50d284e3a94262a2c27caf2a365fb8",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_LEFT,0.7886,0.6667> under framelost conditions?",
    "answer": "Slight left turn. Explanation: The pedestrian with a yellow hat is moving, and a slight left turn could lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, brake suddenly. Explanation: These actions help avoid collisions with visible and potentially obscured objects.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment includes a construction zone with orange and white traffic cones positioned at the front of the ego vehicle. A pedestrian wearing a yellow hat is moving to the front left. There is a stationary silver sedan to the back right and a brown sedan directly behind the ego vehicle. Additionally, a silver business car is located to the back left. A white landmark line is visible at the front. Some areas are not visible due to framelost, impacting the full scene perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-02-17-28-51+0800__CAM_FRONT__1533202615662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_LEFT__1533202615654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-02-17-28-51+0800__CAM_FRONT_RIGHT__1533202615670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-02-17-28-51+0800__CAM_BACK__1533202615687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-02-17-28-51+0800__CAM_BACK_LEFT__1533202615697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Saturate. C. Snow. D. JPEG compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 6. C. 3. D. 5",
    "answer": "A. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the back of the ego vehicle, but due to frame loss, it might not be visible. 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that pedestrian at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that straight, left turn, right turn at front camera. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that silver sedan at back camera. The object is going ahead, but due to frame loss, it might not be visible, so the ego vehicle should proceed with caution.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4849,0.5944> a traffic sign or a road barrier considering the frame loss?",
    "answer": "No, Explanation: The object is a silver sedan, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Brake suddenly, especially since the object might not be visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193360427893.jpg"
    }
  },
  {
    "scene_token": "8adaf76e6005413181924e6c83053a21",
    "frame_token": "674606c111a34332a95498a56858e1c3",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss?",
    "answer": "Brake gently to a stop, decelerate gradually without braking, and proceed with caution due to potential visibility issues.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a dimly lit urban area with several buildings visible. Due to frame loss, some areas are not visible, creating potential blind spots. A silver sedan is positioned behind the ego vehicle, but it might not be visible. A pedestrian is moving to the front left of the ego vehicle, and a traffic sign indicating straight, left turn, and right turn is ahead. The scene is challenging due to the reduced visibility caused by frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193360412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193360404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193360420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193360437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193360447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Snow. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 1. C. 3. D. 6",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, and they are moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.1906,0.7676> a traffic sign or a road barrier under framelost conditions?",
    "answer": "Yes, Explanation: The object is a red traffic cone, which serves as a road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_BACK_RIGHT__1533114333027893.jpg"
    }
  },
  {
    "scene_token": "ba76f4185aa34ed3bff467ac640da902",
    "frame_token": "2fd8f9bd71664143bc0e643a914791be",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c2,CAM_FRONT_RIGHT,0.6922,0.5509> under framelost conditions?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The scene shows an urban intersection with several key objects. To the front of the ego vehicle, there is a red traffic cone and a red light. A person wearing a white shirt is moving ahead in the same direction as the ego vehicle. To the front right, there is a stationary white van and a white sedan. Due to framelost conditions, some camera views are unavailable, which may obscure additional objects or scene elements.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-04-15+0800__CAM_FRONT__1533114333012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_LEFT__1533114333004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-04-15+0800__CAM_FRONT_RIGHT__1533114333020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-04-15+0800__CAM_BACK__1533114333037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-04-15+0800__CAM_BACK_LEFT__1533114333047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. C. JPEG compression. D. Bright",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 2. C. 5. D. 0",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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>. However, due to frame loss, some objects might not be consistently visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, and despite frame loss, it is still identified as going ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering frame loss, 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 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. Frame loss may affect the consistency of these observations.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a blue car, and despite frame loss, it is not identified as a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886095677893.jpg"
    }
  },
  {
    "scene_token": "b79d940da8df43d09ee972c2414ffeca",
    "frame_token": "dae47bb946e8418eb0fea1267c1ba730",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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. Frame loss may require additional caution.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "Change to the left lane. Frame loss may affect the visibility of the blue car, increasing the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a mix of stationary and moving objects. A blue car is positioned to the back of the ego vehicle, a pedestrian wearing a white shirt is moving to the front left, and a brown sedan car is stationary to the front right. Frame loss may cause intermittent visibility of these objects, requiring the ego vehicle to rely on other sensors or previous data for consistent tracking.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886095662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886095654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886095670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886095687533.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886095697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Fog. C. Bit error. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 6. C. 4. D. 1",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front right of the ego vehicle, a black 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 <c3,CAM_FRONT_RIGHT,0.2453,0.5963>, <c4,CAM_FRONT_LEFT,0.4609,0.5676>, and <c5,CAM_FRONT,0.6440,0.2957>. The other objects are not visible due to sensor failure.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but it is not visible due to sensor failure.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a silver car, not a traffic sign or road barrier, but it is not visible due to sensor failure.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297160028113.jpg"
    }
  },
  {
    "scene_token": "e15260c4ed5b4505900d497ef92ddd2d",
    "frame_token": "7a639c70662c4321bfd748c47c25ca94",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_RIGHT,0.4146,0.7509> considering the framelost corruption?",
    "answer": "Sharp right turn. The object is not visible due to sensor failure, but its position is known from previous data.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which has a high probability. The object is not visible due to sensor failure, but its position is known from previous data.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by framelost corruption, resulting in missing visual data from several camera angles. Visible in the scene is a silver sedan to the front right and a black car to the front left of the ego vehicle. A green traffic light is visible ahead, indicating the ego vehicle can proceed. The road appears wet, suggesting rainy conditions, and there are construction sites visible in the background. The missing frames create uncertainty about the presence of other vehicles or obstacles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297160012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297160004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297160020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297160037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297160047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Bit error. C. Sensor failure. D. Bright",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 1. D. 6",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is 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 <c2,CAM_FRONT_RIGHT,0.3442,0.5444>, <c3,CAM_FRONT_LEFT,0.4995,0.5658>, and <c4,CAM_FRONT,0.6901,0.4074>. The silver sedan is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a gray SUV moving ahead, and its status is unaffected by the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a silver sedan, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290785528113.jpg"
    }
  },
  {
    "scene_token": "0b8948ee96ac46faad405bf1ffc70bb1",
    "frame_token": "ec7523bf32734267bc88b41dac419cb0",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is rainy and overcast, with wet roads and limited visibility. A gray SUV is moving to the front right of the ego vehicle at coordinates (0.3442, 0.5444). Another gray SUV is moving to the front left at coordinates (0.4995, 0.5658). A white truck is moving directly in front of the ego vehicle at coordinates (0.6901, 0.4074). The silver sedan to the back right is not visible due to framelost corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290785512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290785504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290785520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290785537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290785547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Snow. C. Sensor failure. D. JPEG compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 6. D. 1",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT_LEFT,0.8942,0.5908> under framelost 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 crossing the road, and the status remains going ahead despite framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a motorcycle to the front left of the ego vehicle, pedestrians crossing the road to the front left of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5917,0.6009>, <c2,CAM_FRONT_LEFT,0.8942,0.5908>, and <c3,CAM_BACK,0.4309,0.6047>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice pedestrians crossing the road at left camera. It is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice black sedan at back camera. It is turning right, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice motorcycle at left camera. It is stationary, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.5917,0.6009> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a motorcycle, not a traffic sign or road barrier, even under framelost conditions.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.5917,0.6009> under framelost conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621793628113.jpg"
    }
  },
  {
    "scene_token": "53c92676ef334011bd4689494ac11fa0",
    "frame_token": "971f7df7e4f64081a7b22089a8532caf",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.5917,0.6009> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to framelost conditions. Visible is a park area with trees and benches. A motorcycle is stationary to the front left of the ego vehicle. Pedestrians are crossing the road to the front left, and a black sedan is moving at the back of the ego vehicle. The scene is calm with minimal traffic.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621793612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621793604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621793620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621793637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621793647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Sensor failure. C. Saturate. D. H256 ABR compression",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 0. C. 1. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? 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 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> and <c3,CAM_FRONT,0.5927,0.5224>. The gray car at the back might not be visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice yellow traffic sign at front camera. The object is a traffic sign, so the ego vehicle should slow down and continue ahead. Secondly, notice black small car at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. The gray car at back camera might not be visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a black small car, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573085378113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "ecd7b29ba9644fc99af37fac3d5fa691",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a clear road with visible sunlight and some trees lining the street. To the front, there is a black small car and a yellow traffic sign. The gray car at the back is not visible due to frame loss. The road appears to be straight with no immediate obstacles, and the buildings on the side are visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573085362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573085354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573085370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573085387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573085397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Motion blur. C. Sensor failure. D. JPEG compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 4. D. 0",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 its status is not affected by the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black business car, and its identification is not affected by the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573088928113.jpg"
    }
  },
  {
    "scene_token": "c133e78e55ae487c821803a3b183d1ab",
    "frame_token": "5d2eec2186424ee8b74faf32540a12a6",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to frame loss, but key objects are still identifiable. A black business car is stationary to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.8286,0.5852>. A silver-gray sedan is moving behind the ego vehicle, located at <c2,CAM_BACK,0.5401,0.5574>. A yellow sign is visible in front of the ego vehicle at <c3,CAM_FRONT,0.6292,0.4913>. The surrounding area includes trees and buildings, but some details may be missing due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573088912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573088904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573088920491.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573088937991.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573088947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Rain. D. Dark",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 6. D. 4",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 and a white car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6370,0.5898> and <c3,CAM_FRONT_RIGHT,0.4422,0.5564>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white car moving ahead, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a stationary pedestrian wearing a white shirt, visible despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153647428113.jpg"
    }
  },
  {
    "scene_token": "fbf27198b3424e28ab1de2a12eb3dc4a",
    "frame_token": "f00c919a5e07495c927062d083fbdd2d",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right and decelerate gradually without braking are safe actions to take for the ego vehicle in this scenario.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The scene shows a road with a white car moving ahead on the right side and a stationary pedestrian wearing a white shirt in front of the ego vehicle. Due to frame loss, several areas are not visible, including the back left and back right views. The visible environment includes a clear sky and some industrial buildings on the side of the road.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153647412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153647404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153647420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153647437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153647447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Sensor failure. C. Saturate. D. Rain",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 3. C. 5. D. 1",
    "answer": "A. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, some objects may not be visible. However, 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": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a pedestrian wearing black pants and is moving, but due to frame loss, the exact movement might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_RIGHT,0.1755,0.6472> a traffic sign or a road barrier considering frame loss?",
    "answer": "No, Explanation: The object is a pedestrian wearing black pants, not a traffic sign or road barrier, even if frame loss affects visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488201778113.jpg"
    }
  },
  {
    "scene_token": "53d4c9a634df4fdfadf057d3a216e98f",
    "frame_token": "f4daf8fc833849bd8f1bf0b729621cd2",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, and decelerate gradually without braking, considering potential unseen obstacles due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "No such action will lead to a collision, but caution is advised due to potential visibility issues from frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to frame loss, which affects the visibility of some objects. A pedestrian wearing black pants is moving to the back right of the ego vehicle. A silver SUV is stationary at the back. To the front left, a black sedan is moving, while a pedestrian wearing a white shirt is stationary in front. A black car is moving in front, and a pedestrian with an orange shirt is stationary to the front right. These objects are positioned at various coordinates, but frame loss may obscure some details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488201762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488201754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488201770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488201787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488201797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. Dark. C. Sensor failure. D. Snow",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 2. D. 4",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle and a sanitation worker to the front of the ego vehicle. The IDs of these objects are <c3,CAM_FRONT,0.7052,0.4917> and <c4,CAM_FRONT,0.2620,0.5426>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost corruption, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a dark green truck, but due to framelost corruption, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability. However, due to framelost corruption, the object might not be visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The framelost corruption may affect the visibility of some objects, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by framelost corruption, leading to missing visual data from some camera angles. The visible environment shows a white truck stationary in front of the ego vehicle and a sanitation worker also in front. The road appears wet, indicating recent rain, and there are construction elements visible to the side. The missing frames create uncertainty about the presence of other vehicles or pedestrians that might have been captured by the corrupted cameras.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537293297762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537293297754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537293297770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537293297787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537293297797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Sensor failure. C. Motion blur. D. JPEG compression",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 3. C. 1. D. 5",
    "answer": "C. 1",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a blue and white car moving ahead, visible despite framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402419027893.jpg"
    }
  },
  {
    "scene_token": "6d4b2bd795ae4c66900ad98ccd2371a6",
    "frame_token": "f589ce80644d46c0ab3c6e764321d5ef",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue and white car to the front of the ego vehicle, a white commercial vehicle to the front right of the ego vehicle, a pedestrian holding a black umbrella to the front left of the ego vehicle, a traffic light with green light on to the front of the ego vehicle, and a traffic light with green light on to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5792,0.6213>, <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>. The blue truck is not visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a blue and white car, not a traffic sign or road barrier, visible despite framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability, even with framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a busy urban area with multiple lanes and modern buildings. A blue and white car is moving ahead in the center of the road. To the front right, a white commercial vehicle is visible. A pedestrian holding a black umbrella is walking on the sidewalk to the front left. Two traffic lights with green lights are visible ahead. The blue truck is not visible due to framelost corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402419012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402419004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402419020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402419037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402419047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. H256 ABR compression. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 3. D. 0",
    "answer": "B. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 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>, <c3,CAM_FRONT,0.2297,0.5658>, and <c5,CAM_FRONT,0.6502,0.4530>. The black sedan is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and its status is not affected by the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, and its identification is not affected by the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290165928113.jpg"
    }
  },
  {
    "scene_token": "8b60e7e47cde43e0a7fbd66d926de14f",
    "frame_token": "04b08aa7a863458aa2eeccc86d5e3569",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.5031,0.5310> considering the frame loss?",
    "answer": "No such action will lead to a collision. The frame loss does not affect the collision risk with the white SUV.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right. The frame loss does not affect these safe actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with wet roads and overcast skies, indicating rainy weather. To the front, a white SUV is moving ahead at coordinates <c1,CAM_FRONT,0.5031,0.5310>. Another white sedan is also visible in front at coordinates <c3,CAM_FRONT,0.2297,0.5658>. A green light is present at coordinates <c5,CAM_FRONT,0.6502,0.4530>. Due to frame loss, the black sedan is not visible, and some areas are obscured.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290165912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290165904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290165920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290165937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290165947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Bright. D. JPEG compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 3. C. 2. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2116,0.6054>, <c2,CAM_FRONT,0.9323,0.5519>, and <c4,CAM_FRONT,0.6167,0.5417>. Due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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 it remains visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and it is visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption?",
    "answer": "Moderate left turn. The black car is visible, and turning left could lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability. The black car is visible despite the frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with visible trees and buildings. Due to frame loss, only some objects are visible. A black car is moving ahead at coordinates <c1,CAM_FRONT,0.2116,0.6054>. A white sedan is also moving ahead at coordinates <c2,CAM_FRONT,0.9323,0.5519>. Another white sedan is visible at coordinates <c4,CAM_FRONT,0.6167,0.5417>. Other objects may not be visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729251612424.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729251604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729251620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729251637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729251647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Snow. C. Color quant. D. JPEG compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 6. D. 3",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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, a 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>. However, due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but due to frame loss, the visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice person on the side of the road at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice people walking on the roadside at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice orange car at right rear camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Frame loss may affect the timing of these observations.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, but frame loss might obscure this information.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Slight left turn. Frame loss may affect the perception of the object's exact position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663153177893.jpg"
    }
  },
  {
    "scene_token": "928ee3a8c5a84497a6360fe70a4e921e",
    "frame_token": "789846622fac4176b66719351d445f35",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss corruption?",
    "answer": "Decelerate gradually without braking. Frame loss may require more cautious actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment includes a road with a pedestrian on the side and people walking on the roadside, visible in the front camera. An orange car is moving in the back right camera view. Due to frame loss, some objects may not be consistently visible, affecting the perception of their exact positions and movements.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663153162460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663153154844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663153170339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663153187525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663153197423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Bright. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 2. C. 6. D. 3",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front of the ego vehicle, a person riding a bicycle to the front of the ego vehicle, and a person wearing a pink shirt and black pants to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6604,0.6314>, <c2,CAM_FRONT,0.2052,0.6092>, and <c3,CAM_FRONT,0.0203,0.5991>. Due to frame loss, objects in other views are not visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, visible in the front camera despite frame loss in other views.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, visible in the front camera.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574095928113.jpg"
    }
  },
  {
    "scene_token": "df8dfada99a04a81bd1b102eeb84e9bc",
    "frame_token": "e3f986e5d53f416492bdf255e82bff52",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6604,0.6314> considering the frame loss corruption?",
    "answer": "Sharp left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The scene shows a city intersection with a large building on the corner. There are orange barriers on the sidewalk and a few pedestrians walking nearby. A black car is moving ahead in the center of the scene, a person is riding a bicycle slightly to the left, and another pedestrian wearing a pink shirt and black pants is visible. Due to frame loss, objects in other camera views are not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574095912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574095904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574095920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574095937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574095947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. Fog. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 1. C. 6. D. 2",
    "answer": "C. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, some objects may not be visible. However, there is a white sedan car to the front of the ego vehicle, a pedestrian to the front 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>, and <c5,CAM_FRONT,0.8067,0.6009>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 and is moving ahead, but due to framelost corruption, continuous tracking might be challenging.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7067,0.5611> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, but framelost corruption may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to decelerate gradually without braking. The reason for taking this action is to avoid a collision, which has a high probability, even though framelost corruption might affect the detection.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659555928113.jpg"
    }
  },
  {
    "scene_token": "f7d01e23508040c2aec430e8da13fb76",
    "frame_token": "18a739fec6c3491ca23efc10d02cf9de",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. Framelost corruption may require more cautious actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. A white sedan car is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.7067,0.5611>. A pedestrian is moving ahead at coordinates <c2,CAM_FRONT,0.9521,0.5703>. A bicycle is stationary in front of the ego vehicle at coordinates <c5,CAM_FRONT,0.8067,0.6009>. Other objects may not be visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659555912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659555904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659555920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659555937586.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659555947527.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Motion blur. C. Bit error. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 0. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, only the white truck to the front of the ego vehicle is visible. The ID of this object is <c2,CAM_FRONT,0.6261,0.4814>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a blue sedan moving behind the ego vehicle, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is an orange and white truck, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption?",
    "answer": "Moderate right turn, Explanation: The object is an orange and white truck, but it is not visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, Explanation: The object is an orange and white truck, but it is not visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with buildings on both sides. Due to framelost corruption, only the white truck in front of the ego vehicle is visible at coordinates <c2,CAM_FRONT,0.6261,0.4814>. The rest of the scene is obscured, making it challenging to perceive other vehicles or obstacles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915328012465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915328004917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915328019956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915328037570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915328047295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Bright. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 6. C. 2. D. 5",
    "answer": "B. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, some objects may not be visible. However, there is a white truck to the back of the ego vehicle, yellow traffic markings to the back, and a white road sign to the front. 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": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but frame loss may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss? 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 white road sign at the 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 the back camera. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice the white truck at the back camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Frame loss may affect the visibility of these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier. Frame loss may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Brake suddenly. Frame loss may affect the perception of the truck's position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but frame loss may affect the perception of the truck.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to frame loss, which may obscure some objects. A white truck is positioned at the back of the ego vehicle, identified as <c1,CAM_BACK,0.4547,0.5592>. Yellow traffic markings are also at the back, identified as <c2,CAM_BACK,0.4396,0.6398>. A white road sign is located at the front, identified as <c3,CAM_FRONT,0.7559,0.6411>. The frame loss may cause intermittent visibility of these objects, affecting the ego vehicle's perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034004262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034004254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034004270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034004287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034004297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Fog. C. Motion blur. D. Color quant",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 0. D. 1",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in some camera views? 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 this remains unchanged despite the frame loss in other cameras.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene given the frame loss in some camera views? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white commercial vehicle to the front right of the ego vehicle and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.3812,0.5722> and <c2,CAM_FRONT,0.3234,0.4981>. The yellow bike is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "0dd2b3a691554932abed501d3b33310e",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? 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?",
    "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. The yellow bike is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss in some camera views?",
    "answer": "No, Explanation: The object is a white commercial vehicle, and this remains unchanged despite the frame loss in other cameras.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in some camera views?",
    "answer": "Moderate right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in some camera views? 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with a white commercial vehicle stationary to the front right and a white truck moving ahead directly in front of the ego vehicle. The scene is partially obscured due to frame loss, which affects the visibility of the yellow bike that was previously detected at the back. The road is lined with trees and buildings, creating an urban driving environment.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112780512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112780504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112780520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112780537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112780547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112780527893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Rain. C. Bit error. D. Saturate",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 4. C. 6. D. 5",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> given the framelost condition? 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, but due to framelost, its visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white commercial vehicle to the front of the ego vehicle, a dark gray van to the back of the ego vehicle, a pedestrian wearing a light purple shirt to the front left of the ego vehicle, and a dark blue SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4646,0.6814>, <c2,CAM_BACK,0.4370,0.5611>, <c3,CAM_FRONT_LEFT,0.5380,0.6759>, and <c4,CAM_FRONT_LEFT,0.6276,0.5602>. Note that some objects might not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4646,0.6814> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier, but its visibility might be affected by framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_BACK_RIGHT__1533112765777893.jpg"
    }
  },
  {
    "scene_token": "00590cbfa24a430a8c274b51e1c71231",
    "frame_token": "ab256e0594844adfaf7ea6b5aeef9ba5",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost? 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, especially under framelost conditions where visibility is compromised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with several buildings and a road intersection. Due to framelost, some objects may not be visible. However, a white commercial vehicle is positioned at the front of the ego vehicle, a dark gray van is at the back, a pedestrian wearing a light purple shirt is to the front left, and a dark blue SUV is also to the front left. The scene is partially obscured, affecting the visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112765762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112765754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112765770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112765787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112765797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Zoom blur. C. H256 ABR compression. D. Dark",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 2. D. 1",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 and an orange bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.6279,0.5731> and <c2,CAM_FRONT,0.0936,0.4960>. The blue sedan to the back and front right of the ego vehicle are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The pedestrian is moving ahead, and this status is consistent despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985425277893.jpg"
    }
  },
  {
    "scene_token": "240d15482599449a9bd0432fbfa688ab",
    "frame_token": "e154fa0b72ef4a428a17b76e5a8cba6c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6279,0.5731> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, and this identification remains unchanged despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The framelost corruption does not affect this decision as the visible objects do not pose immediate threats.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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 the visible pedestrian, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene shows a road with an orange bus stationary in front of the ego vehicle and a pedestrian wearing white shorts moving to the front left. The environment is partially obscured due to framelost, with some vehicles not visible. The road is bordered by trees and a sidewalk, and there are traffic signs indicating a curve ahead.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985425262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985425254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985425270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985425287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985425297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. C. Sensor failure. D. Color quant",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 2. D. 6",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, what are the important objects in the current scene 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the frame loss, what is the moving status of object <c1,CAM_FRONT,0.7364,0.5908>? 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, and despite the frame loss, it is moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Given the frame loss, is <c1,CAM_FRONT,0.7364,0.5908> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a pedestrian in red clothes, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the frame loss, what actions could the ego vehicle take based on <c1,CAM_FRONT,0.7364,0.5908>? 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to frame loss, making it difficult to perceive all objects clearly. However, a pedestrian in red clothes is visible at the front of the ego vehicle. A white sedan is moving behind the ego vehicle, and another white sedan is visible at the front. Additionally, a red car is positioned at the front, and a white sedan car is to the front left. The frame loss affects the clarity and continuity of these observations.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193307512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193307504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193307520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193307537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193307547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Sensor failure. C. Color quant. D. Snow",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 5. C. 0. D. 1",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, and despite the framelost corruption, it is still identified as turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front left of the ego vehicle, a black SUV to the front right of the ego vehicle, 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>, <c4,CAM_FRONT,0.3667,0.6398>, and <c5,CAM_FRONT,0.5745,0.6269>. The object <c3,CAM_BACK,0.4547,0.5936> is not visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, and despite the framelost corruption, it is still identified as not being a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "No such action will lead to a collision, Explanation: The object is stationary, and the framelost corruption does not affect this status.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193304027893.jpg"
    }
  },
  {
    "scene_token": "09f67057dd8346388b28f79d9bb1cf04",
    "frame_token": "152e3f20b47647a7b6da918c4d69b4b0",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a dimly lit road with visible street signs and a building on the left. A black car is stationary to the front left of the ego vehicle, positioned at coordinates (0.6000, 0.6750). A black SUV is moving to the front right at coordinates (0.6703, 0.4981). A white sedan and a red car are moving in front of the ego vehicle at coordinates (0.3667, 0.6398) and (0.5745, 0.6269) respectively. Due to framelost corruption, some objects may not be visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193304012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193304004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193304020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193304037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193304047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Sensor failure. C. Fog. D. Motion blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 4. D. 2",
    "answer": "D. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5323,0.5222> and <c4,CAM_FRONT,0.5039,0.4546>. The blue truck and blue car are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 it is visible despite the framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5323,0.5222> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and it is visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290797778113.jpg"
    }
  },
  {
    "scene_token": "673ce9bdd9254fff82a524653a07b57f",
    "frame_token": "3b5bce4f52a14ecfb159d8b1bd2b542d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5323,0.5222> considering framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a rainy urban street with limited visibility due to framelost corruption. A white truck is moving ahead of the ego vehicle at coordinates <c1,CAM_FRONT,0.5323,0.5222>. A green light is visible at the front at coordinates <c4,CAM_FRONT,0.5039,0.4546>. The road is wet, and the surroundings include buildings and parked vehicles. Some objects, like the blue truck and blue car, are not visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290797762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290797754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290797770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290797787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290797797408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Dark. C. Color quant. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 6. C. 3. D. 1",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.8036,0.6963>, <c2,CAM_FRONT,0.4401,0.5574>, and <c3,CAM_FRONT,0.5614,0.5472>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 despite the frame loss, its status remains unchanged.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296940278113.jpg"
    }
  },
  {
    "scene_token": "40a2faa275fe4b9bb7412259485bb46e",
    "frame_token": "8a7f948960704d5ea44b868153a92d63",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice silver sedan at left camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice black sedan at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice white sedan at front camera. The object is going ahead, so the ego vehicle should keep going ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, and this is consistent despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with tall buildings and a bridge. The road is wet, indicating recent rain. A silver sedan is moving to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.8036,0.6963>. Directly ahead, a black sedan is moving, 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>. Despite the frame loss, these vehicles are visible and maintain their positions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296940262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296940254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296940270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296940287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296940297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. H256 ABR compression. C. Sensor failure. D. Saturate",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 0. C. 3. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.8292,0.5250> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a red car and it is moving ahead, despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.8292,0.5250> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a red car, not a traffic sign or road barrier, even with framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.8292,0.5250> considering the framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296500678113.jpg"
    }
  },
  {
    "scene_token": "37cfda558193400bbe3a5ff14ae4606e",
    "frame_token": "13b1c7b127494822990819c066d19d21",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c3,CAM_FRONT,0.4748,0.5524> considering the framelost corruption?",
    "answer": "Accelerating and going straight can lead to a collision with <c3,CAM_FRONT,0.4748,0.5524>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by framelost corruption, making some camera views unavailable. In the visible frames, the environment is urban with wet roads indicating recent rain. A red car is moving ahead at coordinates (0.8292, 0.5250), and a blue and white commercial vehicle is also moving at coordinates (0.1042, 0.6347). A black pickup truck is visible at coordinates (0.4748, 0.5524), and a white truck is at coordinates (0.3286, 0.5130). The traffic light is green at coordinates (0.6604, 0.3031), allowing vehicles to proceed.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296500662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296500654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296500670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296500687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296500697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. JPEG compression. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 4. C. 3. D. 0",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 and a motorcycle to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.7146,0.5602> and <c2,CAM_FRONT,0.6989,0.6028>. Due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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, although visibility may be affected by frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532662704427893.jpg"
    }
  },
  {
    "scene_token": "f4395dd8e4004f12a8dec3079a93d804",
    "frame_token": "1ddc0dd26d6d4a4b83308a2d5d265523",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed, but caution is advised due to potential visibility issues from frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. A black sedan is stationary to the front right of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_RIGHT,0.7146,0.5602>. A motorcycle is stationary in front of the ego vehicle at coordinates <c2,CAM_FRONT,0.6989,0.6028>. The road is clear, but visibility is limited, affecting the perception of other vehicles and objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532662704412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532662704404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532662704420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532662704437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532662704447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Bright. C. Sensor failure. D. H256 ABR compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 5. C. 1. D. 3",
    "answer": "C. 1",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost corruption, its visibility might be intermittent.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front of the ego vehicle, a 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>. Note that framelost corruption may affect the visibility of these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, but framelost corruption may cause it to appear intermittently.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535574004428113.jpg"
    }
  },
  {
    "scene_token": "221a67d95acf448ba863917ec4d32ed0",
    "frame_token": "dcb54abc782548afa5be3e77bc3dbeb2",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop. Framelost corruption may affect the timing and perception of these actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "No such action will lead to a collision. Framelost corruption may cause temporary loss of visibility, but no collision actions are identified.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban intersection with several vehicles and a traffic light. A black SUV is moving ahead in front of the ego vehicle. To the back, there is a stationary black car. On the front left, a black car is moving, and to the back right, a black sedan is stationary. Another black car is moving to the front right. A red light is visible ahead. Framelost corruption may cause these objects to appear intermittently, affecting the overall perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535574004412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535574004404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535574004420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535574004437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535574004447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Color quant. C. H256 ABR compression. D. JPEG compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 0. D. 1",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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, and a red car to the front 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>, and <c3,CAM_FRONT,0.8896,0.5870>. The objects in the back and front left are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c4,CAM_BACK,0.2874,0.5519> considering the framelost corruption? 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, but it is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.4151,0.5703> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a gray car, stationary, and visible despite the framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.4151,0.5703> considering the framelost corruption?",
    "answer": "No such action will lead to a collision. The gray car is stationary and visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297503428113.jpg"
    }
  },
  {
    "scene_token": "dcdea563c77544bb887de11d87619d3c",
    "frame_token": "0f6432a5c6824bed9cd2603e00e5f61e",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, and turn right. The visible objects do not pose immediate threats.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with tall buildings and wet roads, indicating recent rain. Visibility is compromised due to framelost, with only the front view partially visible. A gray car is stationary to the front right, a white truck is directly in front, and a red car is also in front. The back and front left views are not visible, making it challenging to assess the full scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297503412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297503404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297503420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297503437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297503447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. JPEG compression. C. Bit error. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 6. D. 0",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it might not be visible in some frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost corruption? 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>. Note that some objects might not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287266778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "e2486e66dd0f471d8f72c7bbbf895b37",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that 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. Note that framelost might cause some objects to be temporarily invisible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but framelost might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption?",
    "answer": "Brake suddenly. Framelost might cause delayed detection of the truck, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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, but framelost might cause temporary invisibility of the truck.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment includes a parking area with several vehicles. A white truck is positioned at the back of the ego vehicle, moving forward. A silver sedan is also at the back, stationary. In front of the ego vehicle, a white sedan is parked. The surrounding area includes a large building and a fence. Due to framelost corruption, some objects might not be visible in certain frames, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287266762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287266754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287266770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287266787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287266797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Saturate. C. Sensor failure. D. Zoom blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 1. C. 0. D. 4",
    "answer": "A. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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 and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5558,0.5324> and <c2,CAM_BACK,0.4849,0.5500>. The objects in the front are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 its status is not affected by the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and its identification is not affected by the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287269778113.jpg"
    }
  },
  {
    "scene_token": "f69f7b4cefb7493bb1a8185f6f01d137",
    "frame_token": "642dc5e35de34640a7aaea82ae220717",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5558,0.5324> considering the framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is rainy and overcast, with wet roads and limited visibility. A white truck is positioned at the back of the ego vehicle, moving forward, located at coordinates <c1,CAM_BACK,0.5558,0.5324>. A white sedan is stationary at the back of the ego vehicle, located at coordinates <c2,CAM_BACK,0.4849,0.5500>. The front view is obscured due to framelost, making it challenging to perceive objects in that direction. The surroundings include construction sites and buildings, but details are limited due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287269762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287269754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287269770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287269787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287269797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Dark. C. Fog. D. H256 ABR compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 2. D. 6",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a yellow carriage and is moving ahead, but due to framelost corruption, it may not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "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 a 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>. However, due to framelost corruption, some objects may not be visible at all times.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a yellow carriage, not a traffic sign or road barrier, but framelost corruption may cause it to disappear intermittently.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.4255,0.3713> under framelost corruption?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_BACK_RIGHT__1532621985678113.jpg"
    }
  },
  {
    "scene_token": "875e9b8b63b54263ba1edeb21faadea8",
    "frame_token": "53b149471b304153a5837d50c7e2d3be",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,0.4255,0.3713> under framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high, but framelost corruption may affect the visibility of the object.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an industrial area with freight terminals visible. Due to framelost corruption, some camera views are completely lost, affecting the visibility of objects. A yellow carriage is moving to the front right of the ego vehicle. Two stationary white trucks are positioned directly in front of the ego vehicle. The scene is partially obscured, making it challenging to consistently track these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532621985662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532621985654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532621985670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532621985687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532621985697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Sensor failure. C. H256 ABR compression. D. Bright",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 5. C. 2. D. 4",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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>. However, some objects may not be visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but its visibility might be affected by frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black pickup truck, not a traffic sign or road barrier, although frame loss might obscure it.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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, but frame loss might affect the visibility of the object.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed. Frame loss should be considered when making these decisions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with several parked vehicles. A black pickup truck is stationary to the front right of the ego vehicle, and a white sedan is also stationary in the same direction. Behind the ego vehicle, a black sedan is moving, while another black sedan is stationary to the back right. Frame loss affects the visibility of these objects, making it challenging to perceive the entire scene accurately.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478894262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478894254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478894270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478894287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478894297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. JPEG compression. C. Saturate. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 6. D. 0",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a black car moving ahead, and the framelost corruption does not affect this observation.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and the framelost corruption does not affect this classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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. The framelost corruption does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Brake suddenly. The framelost corruption does not affect this risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to framelost corruption, affecting some camera views. However, visible elements include a black car moving behind the ego vehicle and an orange construction vehicle stationary in front. A black sedan is also stationary behind the ego vehicle. Additionally, a worker wearing fluorescent clothing is visible to the front right. The scene is urban with overcast skies, and the road is clear of obstacles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-26-12-13-50-0400__CAM_FRONT__1532622011412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_LEFT__1532622011404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-26-12-13-50-0400__CAM_FRONT_RIGHT__1532622011420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-26-12-13-50-0400__CAM_BACK__1532622011437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-26-12-13-50-0400__CAM_BACK_LEFT__1532622011447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 1. D. 5",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a silver SUV moving straight ahead, unaffected by frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_BACK_RIGHT__1533281750877893.jpg"
    }
  },
  {
    "scene_token": "d0de3bf834b747179080898725b0f21d",
    "frame_token": "3640145bfc1442559913fd71d345bfa7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene despite the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a roadblock to the front right of the ego vehicle, a silver SUV to the front of the ego vehicle, and a white van to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.8620,0.8648>, <c2,CAM_FRONT,0.3011,0.5408>, and <c3,CAM_FRONT_LEFT,0.7688,0.4926>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 the ego vehicle is getting to the next possible location considering frame loss? 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 SUV at front camera. The object is turning left, so the ego vehicle should turn left. Secondly, notice that white van at left camera. The object is turning left, so the ego vehicle should turn left. Thirdly, notice that roadblock at right camera. The object is a traffic sign, so the ego vehicle should turn left.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "Yes, Explanation: The object is a roadblock, visible despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to frame loss, but key elements are still identifiable. To the front right, there is a roadblock indicating a construction zone. Directly ahead, a silver SUV is moving straight, and to the front left, a white van is also in motion. The road is lined with trees and barriers, suggesting a controlled traffic area.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-31-50+0800__CAM_FRONT__1533281750862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_LEFT__1533281750854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-31-50+0800__CAM_FRONT_RIGHT__1533281750870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-31-50+0800__CAM_BACK__1533281750887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-31-50+0800__CAM_BACK_LEFT__1533281750897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Dark. C. Sensor failure. D. Color quant",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 2. C. 3. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 and a white coach to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.9654,0.5342> and <c3,CAM_FRONT,0.5389,0.4707>. The black car at the back is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "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 moving, so the ego vehicle should continue ahead at the same speed. The black car at the back is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Brake suddenly. The black car is not visible due to frame loss, but sudden braking could still cause a collision if it is close.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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 visible safety issue due to frame loss. The probability is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with some buildings visible on the sides. Due to frame loss, only the front camera images are available. A black sedan is stationary at the front with coordinates <c2,CAM_FRONT,0.9654,0.5342>. A white coach is moving at the front with coordinates <c3,CAM_FRONT,0.5389,0.4707>. The back camera images are missing, so any objects there are not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915778112465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915778104917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915778119956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915778137570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915778147295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bit error. B. Bright. C. Saturate. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 3. C. 6. D. 4",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.3609,0.5676> considering the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white SUV moving ahead, and its status is not affected by the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.9573,0.6213> a traffic sign or a road barrier considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a silver business car, and it is not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 taking this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538985932277893.jpg"
    }
  },
  {
    "scene_token": "57f5503bf63144b8bf450315e860f58e",
    "frame_token": "27ec52e7530d46f2ad6a9123ddea5538",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.9573,0.6213> considering the frame loss corruption?",
    "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": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with several vehicles around the ego vehicle. To the front, there is a silver business car and a white SUV, both visible despite the frame loss. Behind the ego vehicle, a black and white van is moving. The road is lined with trees and buildings, providing a typical cityscape. The frame loss affects some camera views, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538985932262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538985932254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538985932270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538985932287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538985932297427.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Sensor failure. C. Fog. D. Bright",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 3. C. 4. D. 6",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 and a person wearing gray clothes to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5120,0.6000> and <c2,CAM_BACK_LEFT,0.9261,0.5694>. The white truck is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 it remains visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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?",
    "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 sedan at front camera. The object is going ahead, so the ego vehicle should slow down and go ahead. The white truck is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, and it remains visible despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road scene with some frame loss affecting visibility. A white sedan is moving ahead in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.5120,0.6000>. To the back left, a person wearing gray clothes is stationary, located at <c2,CAM_BACK_LEFT,0.9261,0.5694>. The white truck that was initially visible is now obscured due to the frame loss. The surrounding area includes buildings and greenery, but some details are missing due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401553612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401553604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401553620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401553637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401553647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Sensor failure. C. Dark. D. Snow",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 2. D. 1",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in the camera feed? 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, but due to frame loss, its movement might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the front right of the ego vehicle, a white truck to the front of the ego vehicle, a red and white truck to the back left of the ego vehicle, a white sedan to the front right of the ego vehicle, a gray SUV to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1776,0.5926>, <c2,CAM_FRONT,0.8752,0.5097>, <c3,CAM_BACK_LEFT,0.4977,0.5059>, <c4,CAM_FRONT_RIGHT,0.3214,0.6186>, <c5,CAM_FRONT,0.7468,0.5991>, and <c6,CAM_BACK,0.5135,0.7259>. However, due to frame loss, some objects might not be visible at all times.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, but frame loss might cause it to be intermittently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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. Frame loss might affect the visibility of the SUV, but the decision remains the same.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535656873678113.jpg"
    }
  },
  {
    "scene_token": "9c7062b34e064d6ab42124f3f0be233d",
    "frame_token": "e9ea20ac2071464ca6b1b0491a334e7d",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop. Frame loss might affect the visibility of surrounding vehicles, so cautious braking is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban intersection with several vehicles present. A white SUV is moving to the front right of the ego vehicle, located at coordinates <c1,CAM_FRONT_RIGHT,0.1776,0.5926>. A white truck is moving in front of the ego vehicle at <c2,CAM_FRONT,0.8752,0.5097>. A red and white truck is moving to the back left at <c3,CAM_BACK_LEFT,0.4977,0.5059>. A white sedan is also to the front right at <c4,CAM_FRONT_RIGHT,0.3214,0.6186>. A gray SUV is in front at <c5,CAM_FRONT,0.7468,0.5991>, and a black sedan is stationary at the back at <c6,CAM_BACK,0.5135,0.7259>. Due to frame loss, some objects might not be visible at all times, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535656873662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535656873654804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535656873670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535656873687728.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535656873697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Sensor failure. C. Motion blur. D. Bit error",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 0. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, only a black SUV and a white sedan are visible to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7083,0.5917> and <c2,CAM_FRONT,0.6167,0.5537>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a black SUV moving ahead, and it remains visible despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, and it remains visible despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high. The black SUV is still visible despite the framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_BACK_RIGHT__1542799053777893.jpg"
    }
  },
  {
    "scene_token": "16c90eedfc7943a5a4c64e84d18876a2",
    "frame_token": "9ffb0eec69b64b16b6efda03c689314b",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.7083,0.5917> considering the framelost corruption?",
    "answer": "Moderate right turn. The black SUV remains visible, so a moderate right turn could lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is dark with limited visibility due to framelost corruption. A black SUV is visible in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.7083,0.5917>. A white sedan is also visible in front of the ego vehicle at coordinates <c2,CAM_FRONT,0.6167,0.5537>. The road appears wet, and there are streetlights providing minimal illumination. Other vehicles and objects are not visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-11-29+0800__CAM_FRONT__1542799053762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_LEFT__1542799053754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-11-29+0800__CAM_FRONT_RIGHT__1542799053770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-11-29+0800__CAM_BACK__1542799053787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-11-29+0800__CAM_BACK_LEFT__1542799053797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. JPEG compression. D. Bright",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 3. D. 1",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, the visibility of objects is compromised. However, 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": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but visibility may be affected by frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a bicycle on the roadside, not a traffic sign or road barrier, but visibility may be affected by frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "8c84164e752a4ab69d039a07c898f7af",
    "frame_token": "3bf6f0df3f494c8aad14df94d6b4e5b8",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss?",
    "answer": "Decelerate gradually without braking, and maintain the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to frame loss, making it challenging to perceive all objects clearly. However, a bicycle is stationary on the roadside at coordinates (0.3583, 0.5537). A black sedan is moving ahead at coordinates (0.1148, 0.5047). Additionally, a trash can is visible at coordinates (0.7821, 0.6447). The surrounding area includes vegetation and a wall, but details are limited due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538034046662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538034046654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538034046670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538034046687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538034046697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538034046677893.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Motion blur. C. Zoom blur. D. Saturate",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 0. D. 4",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for 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>. However, due to frame loss, some objects may not be visible in certain frames.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but due to frame loss, its visibility might be intermittent.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss corruption, is <c1,CAM_FRONT,0.5833,0.5231> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but frame loss might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488027178113.jpg"
    }
  },
  {
    "scene_token": "3469d30a6e2a4d878fb0ff899346b7de",
    "frame_token": "011b8e758330400dbdf16d55c8a3571a",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Slightly offset to the left, decelerate gradually without braking. Frame loss may require more cautious adjustments.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, but frame loss requires careful monitoring.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with buildings lining the sides. 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, positioned at <c3,CAM_BACK,0.5354,0.5741>. To the front right, a person in a wheelchair is moving, located at <c4,CAM_FRONT_RIGHT,0.0710,0.7817>. A yield to pedestrians sign is visible at <c5,CAM_FRONT,0.8222,0.5242>. Due to frame loss, some objects may intermittently disappear from view.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488027162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488027154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488027170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488027187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488027197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. Sensor failure. C. Bit error. D. Saturate",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 6. C. 2. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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>. However, due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but it might not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice 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. However, due to frame loss, some objects may not be visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a brown car, not a traffic sign or road barrier, but it might not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "No such action will lead to a collision. However, due to frame loss, the object might not be visible, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845520427893.jpg"
    }
  },
  {
    "scene_token": "37284f813cc74496971ff58f5d37400a",
    "frame_token": "04258e0aabb24146b5a50d889c20d753",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss corruption?",
    "answer": "Keep going at the same speed, slightly offset to the left, and slightly offset to the right. Due to frame loss, ensure to monitor surroundings carefully.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. The visible scene shows a road with a wall on one side and some trees. There is a brown car moving behind the ego vehicle, a white sedan stationary to the front right, and a blue sedan stationary to the back right. Some frames are missing, which may obscure other objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845520412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845520404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845520420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845520437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845520447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Motion blur. C. Zoom blur. D. Bit error",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 1. D. 4",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black sedan to the back of the ego vehicle, a black 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>. However, due to framelost corruption, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black sedan moving to the right, but due to framelost corruption, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, but it may not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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. However, framelost corruption may affect visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK,0.4886,0.5602>. Framelost corruption may affect visibility but does not change this outcome.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with a road flanked by buildings and trees. Due to framelost corruption, only partial visual data is available. A black sedan and a black car are positioned behind the ego vehicle, while a black motorcycle is to the front left, and a blue sedan is to the front right. The lack of visibility in some frames may obscure these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845527662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845527654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845527670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845527687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845527697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Dark. C. Sensor failure. D. Bright",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 5. D. 6",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it might not be visible in some frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a blue sedan to the front of the ego vehicle, and a black SUV to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5052,0.5436>, <c2,CAM_FRONT,0.7630,0.5814>, and <c3,CAM_BACK,0.6099,0.5602>. Note that some objects may not be visible in all frames due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but it might not be visible in some frames due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice 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. Note that some objects may not be visible in all frames due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385114628113.jpg"
    }
  },
  {
    "scene_token": "ab7f4909bc6c4841a12020355a7d505c",
    "frame_token": "10ef1bd29fb74b4789e8a648fb30764f",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the framelost corruption?",
    "answer": "Keep going at the same speed and turn right. The framelost corruption may cause some objects to be temporarily invisible, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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. However, due to framelost, the object might not be visible in some frames.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with clear skies and buildings lining the road. A pedestrian crossing is visible ahead. To the back of the ego vehicle, there is a black car and a black SUV, both moving. In front of the ego vehicle, there is a stationary blue sedan. Some frames may not show these objects due to framelost corruption, which can affect the visibility of key objects intermittently.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385114612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385114604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385114620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385114637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385114647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Zoom blur. C. Dark. D. Snow",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 0. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front of the ego vehicle, 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>. However, due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a silver sedan moving ahead, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that 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. However, due to frame loss, some objects may not be visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Accelerating and going straight. However, due to frame loss, the object may not be visible, increasing the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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. However, due to frame loss, the object may not be visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment includes a silver sedan moving ahead in front of the ego vehicle, a stationary white truck to the front left, and pedestrians crossing the road to the front right. The positions 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>. However, due to frame loss, some objects may not be visible, making it challenging to perceive the entire scene accurately.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-32-59+0800__CAM_FRONT__1533112796662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_LEFT__1533112796654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-32-59+0800__CAM_FRONT_RIGHT__1533112796670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-32-59+0800__CAM_BACK__1533112796687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-32-59+0800__CAM_BACK_LEFT__1533112796697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Motion blur. C. Dark. D. Rain",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 4. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue sedan to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.5219,0.5380>. Due to frame loss, other objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "C, Explanation: The object is a blue sedan moving ahead, and its status remains unchanged despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a stationary pedestrian, not a traffic sign or road barrier. However, it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "62d9a581c7114d90a48bacfb2a47b104",
    "frame_token": "83a7d0698a44472cad433f37783e0875",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6594,0.5463> considering the frame loss corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to follow the traffic rules, high. However, the pedestrian may not be visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Slight right turn. The pedestrian may not be visible due to frame loss, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is partially visible due to frame loss. A blue sedan is moving ahead in front of the ego vehicle, located at coordinates <c2,CAM_FRONT,0.5219,0.5380>. Other objects, such as pedestrians and additional vehicles, may not be visible, making it challenging to assess the full environment.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488194162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488194154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488194170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488194187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488194197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488194178113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bit error. B. Sensor failure. C. Snow. D. Rain",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 1. C. 5. D. 2",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> given the framelost condition? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "A, Explanation: The object is a blue car moving ahead, but due to framelost, it may not be visible in the current frame.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a blue car to the back of the ego vehicle, a white car to the front right of the ego vehicle, and a gray jacket pedestrian to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5567,0.6936>, <c2,CAM_BACK,0.1082,0.6444>, <c3,CAM_FRONT_RIGHT,0.7864,0.6463>, and <c4,CAM_BACK_RIGHT,0.3453,0.6009>. Note: Some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a stationary black SUV, not a traffic sign or road barrier. It may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.5567,0.6936> considering the framelost condition? 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. Note: The object may not be visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573956528113.jpg"
    }
  },
  {
    "scene_token": "f92422ed4b4e427194a4958ccf15709a",
    "frame_token": "401cbca10866445bb48f2b1bf0418231",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, brake gently to a stop. Note: Visibility of objects may be compromised due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban intersection with tall buildings on either side. The sky is clear with a few clouds. Due to framelost, only the front camera image is visible, showing a white car moving to the front right of the ego vehicle. Other objects, such as a black SUV, a blue car, and a pedestrian in a gray jacket, are not visible in the current frame.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573956512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573956504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573956520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573956537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573956547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Sensor failure. C. Bit error. D. Color quant",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 5. C. 4. D. 2",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.7484,0.6028> and <c2,CAM_FRONT,0.7604,0.4963>. The white truck at the back is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "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. The white truck at the back is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287264178113.jpg"
    }
  },
  {
    "scene_token": "9f3c8453d03d4df5946444757376b826",
    "frame_token": "bb86669b15cf485d99d70c6b3c1f0602",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.7484,0.6028> considering the frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Changing to the right lane.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. In the visible frames, there is a white sedan positioned at the front of the ego vehicle at coordinates (0.7484, 0.6028) and a white truck also at the front at coordinates (0.7604, 0.4963). The back view is not available due to frame loss, which limits the visibility of any objects behind the ego vehicle. The road appears wet, indicating possible rain conditions, and there are trees and a parking structure visible to the side.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287264162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287264154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287264170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287264187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287264197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. JPEG compression. C. Zoom blur. D. Saturate",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 6. C. 4. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan moving ahead, but due to framelost, its visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is 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 <c3,CAM_FRONT,0.7406,0.5500> and <c4,CAM_FRONT_LEFT,0.3858,0.7372>. Due to framelost, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5167,0.5063> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white motorhome, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost? 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. However, due to framelost, the object might not be visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298967928113.jpg"
    }
  },
  {
    "scene_token": "2cc8ffb250c44b42a888e9185810e04c",
    "frame_token": "d466a127beef449a96382817e792b0eb",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost, 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. Framelost may affect the visibility of surrounding objects.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with a visible intersection. The weather appears overcast, and there are construction cranes in the background. A black sedan is moving ahead in front of the ego vehicle, positioned at <c3,CAM_FRONT,0.7406,0.5500>. Another black sedan is stationary at the front left of the ego vehicle, located at <c4,CAM_FRONT_LEFT,0.3858,0.7372>. Due to framelost, some objects such as the white motorhome and black car at the back may not be visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298967912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298967904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298967920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298967937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298967947414.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Motion blur. C. Sensor failure. D. JPEG compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 0. C. 2. D. 6",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a gray SUV moving to the left, and the framelost corruption does not affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, is <c1,CAM_BACK,0.4979,0.5498> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a white truck, and the framelost corruption does not affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Brake suddenly, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with multiple vehicles present. 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 framelost corruption affects some frames, but the key objects remain identifiable. The scene is characterized by wet roads and overcast weather, indicating recent rain.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298962362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298962354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298962370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298962387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298962397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Sensor failure. C. Dark. D. Color quant",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 2. D. 4",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, but due to framelost, it might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue sedan car to the front right of the ego vehicle, a black SUV to the front right of the ego vehicle, a blue sedan to the front of the ego vehicle, a red car to the back of the ego vehicle, and a go straight sign to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.0209,0.6139>, <c2,CAM_FRONT_RIGHT,0.5938,0.6564>, <c3,CAM_FRONT,0.8542,0.6814>, <c4,CAM_BACK,0.4500,0.7592>, and <c5,CAM_BACK_RIGHT,0.6689,0.9503>. However, due to framelost, some objects might not be visible at all times.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a blue sedan car, not a traffic sign or road barrier, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition?",
    "answer": "Sharp right turn, Explanation: A sharp right turn could lead to a collision with the blue sedan car, but framelost might affect the visibility of the car.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033651277893.jpg"
    }
  },
  {
    "scene_token": "9f5f2211d6f943a89dd87bbe9703539d",
    "frame_token": "3e1d882de63d435fbc5a837182e93316",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop and turn right, Explanation: These actions are safe considering the current scene, but framelost might affect the visibility of other vehicles.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban intersection with multiple vehicles present. A blue sedan car is moving to the front right of the ego vehicle, and a black SUV is also moving in the same direction. Directly in front of the ego vehicle is another blue sedan. Behind the ego vehicle, there is a stationary red car. A 'go straight' sign is visible to the back right. Due to framelost, some of these objects may intermittently disappear from view, complicating the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033651262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033651254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033651270352.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033651287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033651297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Bit error. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 5. C. 3. D. 2",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray SUV to the front of the ego vehicle, and a right turn to the front of the ego vehicle. The IDs of these objects are <c3,CAM_FRONT,0.6474,0.5944> and <c5,CAM_FRONT,0.4078,0.6176>. Due to frame loss, the objects at the back are not visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "B, Explanation: The object is a white van moving ahead, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability. However, the object is not visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Back up. The object is not visible due to frame loss, increasing the risk of collision if backing up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is a nighttime urban environment with streetlights illuminating the road. To the front of the ego vehicle, there is a gray SUV moving ahead, positioned at coordinates <c3,CAM_FRONT,0.6474,0.5944>. There is also a right turn indicated at coordinates <c5,CAM_FRONT,0.4078,0.6176>. Due to frame loss, objects at the back of the vehicle, such as the white van and white sedan, are not visible. The environment appears quiet with minimal traffic.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800933362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800933354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800933370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800933387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800933397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Snow. C. Fog. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 3. C. 4. D. 0",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> given the framelost condition? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan moving ahead, and its status remains unchanged despite the framelost condition.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost condition? 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 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> and <c3,CAM_BACK,0.5443,0.5648>. The blue truck is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost 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?",
    "answer": "Firstly, notice black car at left camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice black sedan at back camera. It is going ahead, so the ego vehicle should continue ahead at the same speed. The blue truck is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.6739,0.5936> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a black car, and its identification remains unchanged despite the framelost condition.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost conditions? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high. The framelost condition does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385199678113.jpg"
    }
  },
  {
    "scene_token": "35c3bc100e4b4e5089820986d3f50fa3",
    "frame_token": "4d2a8c8976f341d783bedb3acd1bf03c",
    "question_type": "robust_qas",
    "question": "In this scenario under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The framelost condition does not affect these actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost conditions. A black car is stationary to the front left of the ego vehicle at coordinates (0.6739, 0.5936). A black sedan is moving ahead behind the ego vehicle at coordinates (0.5443, 0.5648). The blue truck is not visible due to the framelost condition. The road is clear ahead, with trees lining the street and a parking structure to the right.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385199662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385199654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385199670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385199687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385199697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Snow. C. Fog. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 5. C. 4. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost corruption, it may not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a white SUV to the back of the ego vehicle, and a silver sedan to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.1000,0.5297>, <c2,CAM_BACK,0.4656,0.5797>, and <c3,CAM_BACK_RIGHT,0.7927,0.5833>. However, due to framelost corruption, some objects may not be visible at all times.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but it may not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that 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. Due to framelost corruption, these objects may not be visible at all times.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_BACK_RIGHT__1542801582927893.jpg"
    }
  },
  {
    "scene_token": "e5514b8f435e475cac4eba74b44773b5",
    "frame_token": "35d5917af6a04eaaa6a6a56c9ef0d0d1",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the framelost corruption?",
    "answer": "Slightly offset to the right, slightly offset to the left, keep going at the same speed. The framelost corruption may affect the visibility of surrounding objects, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "No such action will lead to a collision. However, framelost corruption may obscure the black car, so extra caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The driving scene is at night with wet road conditions, as indicated by the reflections and glare from streetlights. The framelost corruption affects visibility, with some camera feeds completely blacked out. A black car is positioned to the front right of the ego vehicle, a white SUV is behind, and a silver sedan is to the back right. These vehicles are moving, but their visibility may be intermittent due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-58-31+0800__CAM_FRONT__1542801582912468.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_LEFT__1542801582904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-58-31+0800__CAM_FRONT_RIGHT__1542801582920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-58-31+0800__CAM_BACK__1542801582937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-58-31+0800__CAM_BACK_LEFT__1542801582947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Motion blur. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 6. C. 3. D. 1",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for future reasoning and driving decisions.",
    "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": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, it might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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. Frame loss may affect the visibility of these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a silver SUV, not a traffic sign or road barrier, but frame loss might obscure its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Brake suddenly. Frame loss may delay the detection of the SUV, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487525678113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "3c7302921b8544ef874518a07d8179df",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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. Frame loss requires cautious driving.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment shows a typical urban street with some visible elements despite frame loss. A silver SUV is positioned behind the ego vehicle, moving forward. To the front right, a pedestrian with a backpack is walking, and a yellow traffic sign is visible. The frame loss affects the visibility of these objects intermittently, requiring the ego vehicle to rely on other sensors for consistent tracking.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487525662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487525654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487525670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487525687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487525697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Sensor failure. C. H256 ABR compression. D. Bright",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 4. C. 3. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it may not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow truck to the front of the ego vehicle, a black sedan to the front left of the ego vehicle, a white SUV to the back of the ego vehicle, and a person wearing black clothes to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5708,0.5074>, <c2,CAM_FRONT_LEFT,0.7208,0.7646>, <c3,CAM_BACK,0.5573,0.5620>, and <c4,CAM_FRONT,0.6969,0.5481>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a yellow truck, not a traffic sign or road barrier, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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. However, framelost may affect the visibility of the object.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487519128113.jpg"
    }
  },
  {
    "scene_token": "e323a27a0ba94ab5ab11010d778cd41f",
    "frame_token": "473366d5f83c4b439a120aa0d65f2fc8",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. Framelost may affect the visibility of surrounding objects, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with a large building in the background. Due to framelost corruption, several camera views are unavailable, limiting visibility. A yellow truck is moving ahead of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.5708,0.5074>. A black sedan is to the front left at <c2,CAM_FRONT_LEFT,0.7208,0.7646>. A white SUV is behind the ego vehicle at <c3,CAM_BACK,0.5573,0.5620>. A pedestrian wearing black clothes is in front of the vehicle at <c4,CAM_FRONT,0.6969,0.5481>. The framelost corruption may cause intermittent visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487519112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487519104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487519120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487519137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487519147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Snow. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 3. D. 5",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.7448,0.6389> considering the framelost corruption? 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, but due to framelost, it might not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "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>. However, due to framelost, these objects might not be consistently visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, but it may not be visible in all frames due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800397927893.jpg"
    }
  },
  {
    "scene_token": "c949ec2cca7047bdb67dce64b6c3586a",
    "frame_token": "18082987b19743cd9a41d1d55097d3eb",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The framelost condition requires cautious driving as objects might not be visible consistently.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "No such action will lead to a collision. However, due to framelost, extra caution is needed as the blue car might not be visible in all frames.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is dark with limited visibility due to framelost corruption. A blue car is moving to the front right of the ego vehicle, located at coordinates <c1,CAM_FRONT_RIGHT,0.7448,0.6389>. Directly ahead, 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 framelost condition causes intermittent visibility of these vehicles, requiring careful monitoring.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800397912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800397904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800397920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800397937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800397947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Bit error. C. Fog. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 0. D. 4",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6849,0.5324> and <c5,CAM_FRONT,0.4980,0.3700>. Other objects might not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but visibility might be affected by framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297448928113.jpg"
    }
  },
  {
    "scene_token": "d58468c6097c425e89671a7b3f480acf",
    "frame_token": "72df293bddb643909f79505a90d5c14d",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the left, considering potential visibility issues due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a rainy urban street with construction on the left side. A white truck is moving behind the ego vehicle, and a green light is visible ahead. Due to framelost, other objects such as the black sedan and silver sedan are not visible, impacting the overall scene perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297448912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297448904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297448920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297448937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297448947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Snow. C. Fog. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 6. C. 4. D. 3",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, some objects may not be visible. However, 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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 and is moving ahead, but frame loss may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a white commercial vehicle, not a traffic sign or road barrier, but frame loss may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708450128113.jpg"
    }
  },
  {
    "scene_token": "fb3aaad97849430cbc32891319c9be10",
    "frame_token": "80153dcc28ab44e587126ebe6ce760bf",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with buildings and trees visible. Due to frame loss, some objects may not be visible. A white commercial vehicle is stationary at the back, positioned at coordinates <c1,CAM_BACK,0.1329,0.6872>. A black sedan and a black van are also stationary at the back, located at <c2,CAM_BACK,0.6964,0.5953> and <c3,CAM_BACK,0.3380,0.6047> respectively. At the front, a white sedan is stationary at <c4,CAM_FRONT,0.9047,0.6806>, and a white truck is moving at <c5,CAM_FRONT,0.5094,0.5130>. The scene is affected by frame loss, which may obscure some details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708450112404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708450104799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708450120482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708450137558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708450147405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Bit error. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 1. C. 4. D. 3",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> given the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck, and despite the framelost condition, it is still identified as turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a 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 <c2,CAM_FRONT_RIGHT,0.2636,0.6574>, <c3,CAM_BACK,0.9017,0.6361>, and <c4,CAM_FRONT,0.3416,0.7904>. The white truck is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_LEFT,0.1432,0.4833> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but it is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "ccf96ecd7161425ba7c5b5dbad79b600",
    "frame_token": "44fc4e5171c54c19b1b31f6e46f65de4",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.1432,0.4833> under framelost conditions?",
    "answer": "No such action will lead to a collision. Explanation: The object is a white truck, but it is not visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost 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. However, the object is not visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost conditions. A black car is stationary to the front right of the ego vehicle, located at coordinates <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>. In front of the ego vehicle, a white zebra crossing is visible at <c4,CAM_FRONT,0.3416,0.7904>. The white truck to the front left is not visible due to framelost.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-13-40-50-0400__CAM_FRONT__1535478834412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_LEFT__1535478834404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_FRONT_RIGHT__1535478834420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-13-40-50-0400__CAM_BACK__1535478834437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-13-40-50-0400__CAM_BACK_LEFT__1535478834447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-13-40-50-0400__CAM_BACK_RIGHT__1535478834428113.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Saturate. C. H256 ABR compression. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 6. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.7137,0.5362> considering the frame loss? 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, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back of the ego vehicle, a silver sedan to the back left of the ego vehicle, and a silver sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7137,0.5362>, <c2,CAM_BACK_LEFT,0.2646,0.6481>, and <c3,CAM_FRONT_LEFT,0.1278,0.5478>. However, due to frame loss, some objects might not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the frame loss, 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 silver sedan at left camera. It is stationary, so the ego vehicle should slow down and proceed. Secondly, notice silver sedan at left rear camera. It is stationary, so the ego vehicle should continue at the same speed. Thirdly, notice black car at back camera. It is turning left, so the ego vehicle should slow down and proceed. However, due to frame loss, some objects might not be visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915698427813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "9b8cb11e23524dcea151d5e31ceb7241",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with buildings lining the street. Due to frame loss, some camera views are not available, limiting visibility. A black car is positioned at the back of the ego vehicle, turning left. A silver sedan is stationary at the back left, and another silver sedan is stationary at the front left. The missing frames create challenges in accurately perceiving the full scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915698412465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915698404917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915698419956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915698437570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915698447295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Sensor failure. C. Bit error. D. Dark",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 3. C. 2. D. 5",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.5495,0.4880> considering the frame loss corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black commercial vehicle turning right, but due to frame loss, its movement might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white sedan car to the front of the ego vehicle, a black commercial vehicle to the back of the ego vehicle, and a black sedan to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5437,0.5056>, <c2,CAM_BACK,0.5495,0.4880>, and <c3,CAM_BACK_LEFT,0.7208,0.6537>. Frame loss may cause intermittent visibility of these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier. Frame loss might cause it to disappear intermittently.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice white sedan car at front camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice black sedan at left rear camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice black commercial vehicle at back camera. It is turning right, so the ego vehicle should continue ahead at the same speed. Frame loss may affect the visibility of these objects.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "fd5a3c6d3ad44954a8045edbe9d93763",
    "frame_token": "3bd38b7c268f40629b6d4aef1a6c7b8d",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, accelerate, and proceed ahead. Frame loss may require additional caution.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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. Frame loss may cause the object to be intermittently visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with several vehicles around the ego vehicle. To the front, there is a stationary white sedan car. Behind, a black commercial vehicle is turning right. To the back left, a black sedan is stationary. Frame loss may cause these objects to appear and disappear intermittently, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-05-21-11-06-59-0400__CAM_FRONT__1526915702362465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_LEFT__1526915702354917.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_FRONT_RIGHT__1526915702369956.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-05-21-11-06-59-0400__CAM_BACK__1526915702387570.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-05-21-11-06-59-0400__CAM_BACK_LEFT__1526915702397295.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-05-21-11-06-59-0400__CAM_BACK_RIGHT__1526915702377813.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. Rain. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 5. C. 1. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a black SUV moving to the left, but due to framelost, it might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a black unknown to the front left of the ego vehicle, a gray SUV to the back left of the ego vehicle, and an orange roadblock to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.7864,0.5759>, <c2,CAM_FRONT_LEFT,0.5500,0.5287>, <c3,CAM_BACK_LEFT,0.6630,0.7074>, and <c4,CAM_BACK,0.2224,0.7056>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.7864,0.5759> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a black SUV, not a traffic sign or road barrier, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.7864,0.5759> under framelost conditions? Why take this action and what's the probability?",
    "answer": "The action is to turn left because there is no safety issue. The probability of this action is high, but framelost may affect the visibility of the SUV.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_BACK_RIGHT__1535385270628113.jpg"
    }
  },
  {
    "scene_token": "97349fd50e694a5f994b0954047b96d0",
    "frame_token": "c42bcde31f894f28bdaa7994f8a03a34",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.7864,0.5759> under framelost conditions?",
    "answer": "Brake suddenly. Framelost may cause delayed detection of the SUV, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment includes a parking area with several vehicles. A black SUV is positioned at the back of the ego vehicle, coordinates <c1,CAM_BACK,0.7864,0.5759>. A gray SUV is stationary to the back left, coordinates <c3,CAM_BACK_LEFT,0.6630,0.7074>. An orange roadblock is located at the back, coordinates <c4,CAM_BACK,0.2224,0.7056>. Due to framelost, some objects may not be visible in certain frames, affecting the overall scene perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385270612410.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385270604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385270620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385270637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385270647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Snow. D. Motion blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 1. C. 3. D. 5",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan, and despite the framelost corruption, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 and a white coach to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5953,0.6297> and <c3,CAM_FRONT,0.3120,0.5194>. The pedestrian and road sign are not visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.5953,0.6297> a traffic sign or a road barrier considering the framelost corruption?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and it remains identifiable despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "de943e246dad4ad686de98008a634ecf",
    "frame_token": "eea47cb542c6477a868e0de45c9b02c4",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with construction barriers on the sides. A gray sedan is visible to the back of the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.5953,0.6297>. A white coach is visible in front of the ego vehicle at coordinates <c3,CAM_FRONT,0.3120,0.5194>. Due to framelost corruption, some objects like the pedestrian and road sign are not visible. The road is clear ahead with trees lining the sides.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531885864012464.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531885864004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531885864020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531885864037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531885864047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531885864027904.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Fog. B. Bit error. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 4. C. 1. D. 6",
    "answer": "D. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is an orange to the back of the ego vehicle, a green to the front of the ego vehicle, and a purple to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.6958,0.6241>, <c2,CAM_FRONT,0.5776,0.5789>, and <c3,CAM_FRONT,0.6986,0.6102>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, its exact movement might be misinterpreted.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "The ego vehicle should first notice purple at front camera, which is in a stationary state, so the ego vehicle should take a slight left deviation. The ego vehicle should then notice green at front camera, which is also in a stationary state, so the ego vehicle should take a slight left deviation. Finally, the ego vehicle should notice orange at back camera, which is moving forward, so the ego vehicle should continue straight at a constant speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is not a traffic sign or road barrier, and frame loss does not change its category.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886254027893.jpg"
    }
  },
  {
    "scene_token": "9047b53fd41540649dce014a128cbe1b",
    "frame_token": "3e2583bef9e849a192c3c4ea21768237",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to frame loss, which affects the visibility of objects. An orange object is moving behind the ego vehicle at coordinates (0.6958, 0.6241). In front, there is a stationary green object at coordinates (0.5776, 0.5789) and a stationary purple object at coordinates (0.6986, 0.6102). The frame loss may cause intermittent visibility of these objects, requiring the ego vehicle to rely on other sensors for accurate perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886254012462.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886254004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886254020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886254037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886254047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. D. Zoom blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 6. C. 5. D. 3",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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 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>, <c4,CAM_FRONT,0.0861,0.6380>, <c5,CAM_FRONT,0.5036,0.5936>, and <c6,CAM_BACK,0.5724,0.5898>. The man carrying a black backpack is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, and its status remains unchanged despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and its identification remains clear despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.9339,0.7139> considering the frame loss corruption?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "1ccab2dc8b75455c9ceb150eaff22836",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with wet roads, indicating recent rain. A gray sedan is moving behind the ego vehicle, and a black SUV is moving in front. A silver-gray sedan and a black sedan are stationary in front of the ego vehicle. A red truck is moving behind. The man carrying a black backpack is not visible due to frame loss. The scene is partially obscured, affecting the visibility of some objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297815362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297815354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297815370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297815387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297815397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297815378113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Rain. B. Saturate. C. Zoom blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 2. D. 1",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray sedan to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a pedestrian wearing black clothes to the back left of the ego vehicle, a white SUV to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red truck to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.9337,0.6880>, <c2,CAM_FRONT,0.2799,0.6153>, <c3,CAM_BACK_LEFT,0.7995,0.6472>, <c4,CAM_FRONT_LEFT,0.8386,0.5908>, <c5,CAM_FRONT,0.3703,0.5880>, and <c6,CAM_BACK,0.6428,0.5579>. Due to framelost, some objects might not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297814878113.jpg"
    }
  },
  {
    "scene_token": "7e2d9f38f8eb409ea57b3864bb4ed098",
    "frame_token": "042f4c4b19864dfcae5a117e4c040072",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking and turn left. Framelost may affect visibility, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption?",
    "answer": "Back up. Framelost may obscure the gray sedan, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with wet roads and overcast skies, indicating recent rain. Traffic lights are visible, and there are several vehicles around. A gray sedan is positioned at the back, a black SUV is at the front, a pedestrian in black is to the back left, a white SUV is to the front left, a black sedan is at the front, and a red truck is at the back. Due to framelost, some objects might not be visible, affecting situational awareness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297814862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297814854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297814870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297814887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297814897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. JPEG compression. C. Rain. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 4. D. 3",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and despite the frame loss, it is still turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a yellow bicycle, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932314927893.jpg"
    }
  },
  {
    "scene_token": "21464a6831c1443db294d1b56a7a33a5",
    "frame_token": "aab0ef8d5aa34f5290607cca8498054c",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a suburban road with trees lining the sides and a clear sky. Despite the frame loss, a yellow bicycle is stationary to the back left of the ego vehicle at coordinates <c1,CAM_BACK_LEFT,0.3974,0.5297>. A gray sedan is moving to the back of the ego vehicle at coordinates <c2,CAM_BACK,0.7536,0.5972>. An orange and black construction sign is visible to the front left at coordinates <c3,CAM_FRONT_LEFT,0.8336,0.5080>. The road appears clear, allowing the ego vehicle to maintain its speed.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932314912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932314904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932314920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932314937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932314948246.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. Sensor failure. C. Snow. D. Fog",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 4. C. 1. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost corruption, its movement might not be clearly visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost corruption? 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 and a white sedan to the front of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.6141,0.6314> and <c4,CAM_FRONT,0.0792,0.5722>. The bus and white car at the back may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a bus, but due to framelost corruption, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193523777893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "6e349f86e1cc4ab3a8e6dd31d24ba2ac",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is dimly lit, with streetlights providing limited visibility. A red car is moving ahead of the ego vehicle at coordinates <c2,CAM_FRONT,0.6141,0.6314>. A white sedan is also visible in front at <c4,CAM_FRONT,0.0792,0.5722>. Due to framelost corruption, objects behind the ego vehicle, such as the bus and white car, are not visible. The road is clear with no immediate obstacles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193523762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193523754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193523770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193523787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193523797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Bit error. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 4. C. 3. D. 1",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and despite the frame loss, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back of the ego vehicle, a black car to the back of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.8938,0.5009>, <c2,CAM_BACK,0.8141,0.5667>, and <c3,CAM_BACK,0.4542,0.6213>. Despite the frame loss, these objects remain relevant.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black SUV, and it is not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193528627893.jpg"
    }
  },
  {
    "scene_token": "3032b651c72e4b5c86d4dea1b4930689",
    "frame_token": "c144652979ed4ccda866356dfff9ccfa",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? 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. Frame loss does not change the order of noticing.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "No such action will lead to a collision. The black SUV remains stationary, and frame loss does not affect this.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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. Frame loss does not change this assessment.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is a dimly lit road with trees lining the sides. Due to frame loss, some camera views are missing, but visible images show a quiet street with no immediate obstacles. Key objects include a black SUV at coordinates <c1,CAM_BACK,0.8938,0.5009>, a black car at <c2,CAM_BACK,0.8141,0.5667>, and a white sedan at <c3,CAM_BACK,0.4542,0.6213>. These vehicles are positioned behind the ego vehicle, with the sedan turning right.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193528612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193528604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193528620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193528637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193528647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Rain. C. Sensor failure. D. Fog",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 6. C. 4. D. 2",
    "answer": "D. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white small truck to the front right of the ego vehicle, a white commercial vehicle to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a black car to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.2500,0.6259>, <c2,CAM_BACK,0.8832,0.6250>, <c3,CAM_FRONT,0.4500,0.5963>, and <c4,CAM_BACK,0.3880,0.5630>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white commercial vehicle moving to the left, and this status remains unchanged despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white small truck, not a traffic sign or road barrier, and this remains unchanged despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800855927893.jpg"
    }
  },
  {
    "scene_token": "de7d80a1f5fb4c3e82ce8a4f213b450a",
    "frame_token": "07175443e8444b8c8c4802fd004e33c1",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The driving scene is at night with some streetlights illuminating the area. Due to framelost corruption, some camera views are missing, but visible images show a busy urban environment. To the front right, there is a stationary white small truck (<c1,CAM_FRONT_RIGHT,0.2500,0.6259>). Behind the ego vehicle, a white commercial vehicle is moving (<c2,CAM_BACK,0.8832,0.6250>). Ahead, a white sedan is also moving (<c3,CAM_FRONT,0.4500,0.5963>), and a stationary black car is behind (<c4,CAM_BACK,0.3880,0.5630>). The environment includes a shopping center and several pedestrians crossing the street.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800855912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800855904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800855920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800855937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800855947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Color quant. D. Dark",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 4. C. 6. D. 5",
    "answer": "C. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 despite the framelost corruption, it is still identified as turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost 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 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>. Despite the framelost corruption, these objects are still considered important.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4641,0.7222> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a black car, and even with framelost corruption, it is not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, or keep going at the same speed. Despite the framelost corruption, these actions remain safe.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708330528113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "e8cd45be3b6b46a89089065896488540",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.4641,0.7222> under framelost conditions? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason is to follow traffic rules, which has a high probability. The framelost corruption does not change this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to framelost corruption, which affects the visibility of some objects. However, key objects are still identifiable: a black car is stationary at the back of the ego vehicle at coordinates (0.4641, 0.7222). A white truck is stationary in front at (0.3792, 0.5064), while two black sedans are moving in front at (0.4781, 0.5722) and (0.5761, 0.5389). A yellow truck is stationary at (0.2989, 0.5167), and a red light is visible at (0.7819, 0.4186). Despite the corruption, these objects are crucial for decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708330512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708330504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708330520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708330537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708330547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Zoom blur. C. Motion blur. D. Rain",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 2. D. 1",
    "answer": "A. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 front of the ego vehicle, and the frame loss does not affect its observed status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "No, Explanation: The object is a black SUV, stationary, and the frame loss does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708325428113.jpg"
    }
  },
  {
    "scene_token": "7599adab7f3944dc8ac1c88b4f3bb082",
    "frame_token": "b005b93130294a2ca679f3270f114c17",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with several vehicles and construction elements. A black SUV is stationary behind the ego vehicle. 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 moving. A black traffic light is visible ahead. Frame loss affects some camera views, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708325412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708325404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708325420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708325437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708325447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Sensor failure. C. Saturate. D. Motion blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 1. C. 5. D. 3",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, what are the important objects in the current scene for future reasoning and driving decisions?",
    "answer": "There is a blue pants pedestrian to the front right of the ego vehicle and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT_RIGHT,0.5739,0.6408> and <c3,CAM_FRONT_RIGHT,0.5489,0.5972>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With the framelost corruption, what is the moving status of object <c1,CAM_BACK,0.6594,0.5667>? 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, but due to framelost corruption, it is not visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Under framelost conditions, is <c1,CAM_BACK,0.6594,0.5667> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a black sedan, but due to framelost corruption, it is not visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering framelost corruption, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6594,0.5667>?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "With framelost corruption, what actions could the ego vehicle take based on <c1,CAM_BACK,0.6594,0.5667>? 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with some visible elements despite the framelost corruption. A black sedan is moving to the front right of the ego vehicle at coordinates <c3,CAM_FRONT_RIGHT,0.5489,0.5972>. A pedestrian wearing blue pants is also moving to the front right at coordinates <c2,CAM_FRONT_RIGHT,0.5739,0.6408>. Other objects are not visible due to the corruption, limiting the scene's completeness.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985211762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985211754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985211770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985211787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985211797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. H256 ABR compression. C. Sensor failure. D. Fog",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 4. C. 6. D. 5",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a red pickup truck, and despite the framelost condition, it is still identified as turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under the framelost condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a gray SUV to the front right of the ego vehicle, a pedestrian riding a bicycle 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 <c3,CAM_FRONT_RIGHT,0.6085,0.7009>, <c4,CAM_FRONT_RIGHT,0.2776,0.6213>, and <c6,CAM_FRONT,0.5251,0.2813>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a white SUV, and it is not visible due to the framelost condition.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, although the object is not visible due to the framelost condition.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "d0bb635ebb2d4c869ede64a1a7d2f448",
    "question_type": "robust_qas",
    "question": "In this scenario under the framelost condition, 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": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost condition. Include both general description and key objects and their positions.",
    "answer": "The environment shows a busy urban street with several vehicles and a cyclist. A gray SUV is stationary to the front right of the ego vehicle at coordinates <c3,CAM_FRONT_RIGHT,0.6085,0.7009>. A pedestrian riding a bicycle is moving to the front right at <c4,CAM_FRONT_RIGHT,0.2776,0.6213>. A red light is visible to the front at <c6,CAM_FRONT,0.5251,0.2813>. Due to the framelost condition, some objects like the white SUV and blue sedan are not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583058262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583058254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583058270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583058287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583058297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583058278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Bright. B. H256 ABR compression. C. Saturate. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 4. C. 0. D. 6",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, and its status is moving. Despite the frame loss, the object's movement direction remains the same.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.8271,0.5833> a traffic sign or a road barrier considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a red pickup truck, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533583056278113.jpg"
    }
  },
  {
    "scene_token": "3d42cd90a8184d9ebd3bb85b6416314d",
    "frame_token": "c9f8edc0efa0409fa5e6568265fe1e24",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.8271,0.5833> considering the frame loss corruption?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a mix of stationary and moving vehicles. A red pickup truck is moving in front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.8271,0.5833>. A light gray SUV is stationary to the front right at <c2,CAM_FRONT_RIGHT,0.6097,0.6898>. Behind the ego vehicle, a blue sedan is stationary at <c3,CAM_BACK,0.6229,0.7639>. Another moving vehicle, a white pickup truck, is in front at <c4,CAM_FRONT,0.4308,0.6167>. A red light is visible at <c5,CAM_FRONT,0.5334,0.2813>. Some frames are lost, affecting the visibility of certain objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533583056262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533583056254799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533583056270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533583056287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533583056297938.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. H256 ABR compression. C. Motion blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 2. D. 5",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white pickup truck moving to the left, but due to framelost corruption, it might not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost corruption? 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 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>. Note that some objects may not be visible in all frames due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier. However, it may not be visible in all frames due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535487480178113.jpg"
    }
  },
  {
    "scene_token": "45275e709d4a4b0592d57850d8e8bd8d",
    "frame_token": "a02918af3c62447dbb9de1d0e0c56aa6",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.2052,0.6064> considering framelost corruption?",
    "answer": "Sharp right turn. Note that due to framelost corruption, the black car may not be visible in all frames, increasing the risk of collision if not accounted for.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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. However, framelost corruption may affect the visibility of the black car, necessitating caution.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street scene with several vehicles and pedestrians. A black car is stationary to the front right of the ego vehicle, and a black SUV is directly in front. Behind the ego vehicle, a person wearing a black shirt is stationary, and a white pickup truck is moving. There is also a pedestrian crossing ahead to the front right. Due to framelost corruption, some of these objects may not be visible in all frames, posing challenges for perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535487480162404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535487480154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535487480170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535487480187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535487480197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Dark. C. Fog. D. Rain",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 3. D. 4",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "There is 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 <c3,CAM_FRONT,0.2031,0.5648>, <c5,CAM_FRONT,0.7281,0.5556>, and <c6,CAM_FRONT,0.5153,0.4084>. The black SUVs are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black SUV, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537298889028113.jpg"
    }
  },
  {
    "scene_token": "e5a3df5fe95149b5b974af1d14277ea7",
    "frame_token": "474e5ee23026418abff2e0d590c1da13",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4870,0.5314> considering the frame loss?",
    "answer": "No such an action will lead to collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with wet roads, indicating recent rain. There are high-rise buildings on both sides of the street. A black sedan is stationary at the front of the ego vehicle at coordinates <c3,CAM_FRONT,0.2031,0.5648>. A pedestrian riding a bike is also visible at the front at coordinates <c5,CAM_FRONT,0.7281,0.5556>. A red traffic light is present at the front at coordinates <c6,CAM_FRONT,0.5153,0.4084>. Some objects are not visible due to frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537298889012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537298889004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537298889020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537298889037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537298889047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Sensor failure. C. JPEG compression. D. Snow",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 2. D. 4",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, visible despite framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for future reasoning and driving decisions.",
    "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>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2370,0.6269> a traffic sign or a road barrier under framelost conditions?",
    "answer": "Yes, Explanation: The object is a cone bucket, which can be considered a road barrier, visible despite framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297138878403.jpg"
    }
  },
  {
    "scene_token": "13be0238abba499e95ba4e6404b22223",
    "frame_token": "97147806a12c40d8b765f9b10082af05",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with ongoing construction, visible through the partially obscured view due to framelost. A white truck is moving to the left in front of the ego vehicle, positioned at coordinates <c2,CAM_FRONT,0.4406,0.4824>. A silver sedan is stationary to the front right, located at <c3,CAM_FRONT_RIGHT,0.5514,0.7162>. A black sedan car is moving ahead at <c4,CAM_FRONT,0.5813,0.5389>. A red light is visible at <c6,CAM_FRONT,0.6838,0.3664>. Some objects may not be visible due to the framelost condition.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297138862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297138854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297138870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297138887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297138897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Bright. C. Sensor failure. D. JPEG compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 3. C. 5. D. 4",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, and the framelost condition does not affect this observation.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the back left of the ego vehicle, a pedestrian waiting for traffic lights to the front left of the ego vehicle, a white SUV to the front of the ego vehicle, a pink and white business car to the front left of the ego vehicle, and a traffic signal to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.2156,0.6963>, <c2,CAM_FRONT_LEFT,0.6594,0.6092>, <c3,CAM_FRONT,0.4880,0.5694>, <c4,CAM_FRONT_LEFT,0.5469,0.5602>, and <c5,CAM_FRONT,0.6235,0.4536>. Despite the framelost condition, these objects remain relevant.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.2156,0.6963> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a black SUV, and the framelost condition does not change its classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost 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. The framelost condition does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297641628167.jpg"
    }
  },
  {
    "scene_token": "e083627747d8499a8c4e94c7abf941e2",
    "frame_token": "00b300aef8f0415188cc8f06f727c295",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,0.2156,0.6963> under framelost conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_LEFT,0.2156,0.6963>. The framelost condition does not impact this outcome.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with overcast weather, and some camera views are lost due to framelost conditions. Visible objects include a black SUV stationary to the back left, a pedestrian waiting at the front left, a white SUV moving ahead, a pink and white business car stationary to the front left, and a traffic signal directly ahead. The framelost condition affects some camera views but does not obscure these key objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297641612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297641604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297641620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297641637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297641647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Fog. C. Color quant. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 5. D. 3",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a man in a gray shirt, and despite the framelost condition, he is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for future reasoning and driving decisions.",
    "answer": "There is 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 <c2,CAM_FRONT,0.4308,0.5842> and <c3,CAM_FRONT_RIGHT,0.4766,0.6917>. The man in a gray shirt is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK_LEFT,0.7286,0.5870> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a man in a gray shirt, but he is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost 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?",
    "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. The man in a gray shirt is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "In this scenario under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking, brake gently to a stop, and back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402142927893.jpg"
    }
  },
  {
    "scene_token": "4047f251c21a475abb49518e0fa6fa9e",
    "frame_token": "d3ab0416f5ee4f4c9a4f4d73e57923f9",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK_LEFT,0.7286,0.5870> under framelost conditions?",
    "answer": "Brake suddenly, Explanation: Although the man in a gray shirt is not visible due to framelost, sudden braking could still lead to a collision if he is nearby.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost conditions. A gray sedan is moving ahead in front of the ego vehicle, positioned at coordinates <c2,CAM_FRONT,0.4308,0.5842>. To the front right, a worker with a white hat is stationary, located at <c3,CAM_FRONT_RIGHT,0.4766,0.6917>. The surroundings include construction barriers and trees, but the man in a gray shirt is not visible due to the framelost condition.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402142912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402142904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402142920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402142937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402142947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Color quant. C. Sensor failure. D. Fog",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 2. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, its precise movement might not be fully captured.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even though frame loss might obscure its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "No such action will lead to a collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with visible street signs and buildings. Despite frame loss, a black car is positioned at the back of the ego vehicle, a black sedan is in front, along with a white sedan and a white SUV. A gray pickup truck is to the front right. The scene is affected by frame loss, which may obscure some details.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297560412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297560404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297560420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297560437566.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297560447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Sensor failure. C. Bright. D. JPEG compression",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 5. C. 1. D. 3",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 that is turning left, but due to framelost corruption, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scene considering framelost corruption? 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 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>. Some objects might not be visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a black car and not a traffic sign or road barrier, but it might not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 when the ego vehicle is getting to the next possible location considering framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice black car at front camera. It is stationary, so the ego vehicle should remain stationary. Secondly, notice pedestrians on the road at front camera. It is going ahead, so the ego vehicle should remain stationary. Thirdly, notice black sedan at right camera. It is turning left, so the ego vehicle should remain stationary. Some objects might not be visible due to framelost corruption.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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. The object might not be visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop; brake suddenly. Some objects might not be visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a road lined by trees and buildings. A black car is stationary in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.1969,0.6908>. A black sedan is moving to the front right at coordinates <c2,CAM_FRONT_RIGHT,0.1432,0.6324>. Pedestrians are on the road ahead at coordinates <c3,CAM_FRONT,0.6500,0.6047>. Some objects might not be visible due to framelost corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-03-52+0800__CAM_FRONT__1532401620412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_LEFT__1532401620404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-03-52+0800__CAM_FRONT_RIGHT__1532401620420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-03-52+0800__CAM_BACK__1532401620437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-03-52+0800__CAM_BACK_LEFT__1532401620447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. H256 ABR compression. C. Bit error. D. Bright",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 3. C. 2. D. 1",
    "answer": "C. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a silver pickup truck, and its movement is not affected by the framelost condition.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a silver pickup truck, not a traffic sign or road barrier, and this is unaffected by the framelost condition.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_BACK_RIGHT__1537287304428113.jpg"
    }
  },
  {
    "scene_token": "e0b14a8e11994763acba690bbcc3f56a",
    "frame_token": "0e364b7146c848b5a5fd73bbe05e59ed",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2219,0.6509> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with wet road conditions due to rain. A silver pickup truck is moving in front of the ego vehicle. To the back, there is a stationary white truck. On the front right, a black car is parked, and a no entry sign is visible. The framelost condition affects some camera views, making certain areas temporarily unavailable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-07-26-0400__CAM_FRONT__1537287304412404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_LEFT__1537287304404799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-07-26-0400__CAM_FRONT_RIGHT__1537287304420482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-07-26-0400__CAM_BACK__1537287304437558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-07-26-0400__CAM_BACK_LEFT__1537287304447405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. JPEG compression. C. Sensor failure. D. Snow",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 5. C. 2. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK_LEFT,0.8442,0.6028> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "B, Explanation: The object is a white business vehicle moving to the left, but due to framelost corruption, it might not be visible in some frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white business to the back left of the ego vehicle, a blue pants pedestrian to the back right of the ego vehicle, a black pickup truck to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_LEFT,0.8442,0.6028>, <c2,CAM_BACK_RIGHT,0.2745,0.6889>, <c3,CAM_FRONT,0.2739,0.5537>, and <c4,CAM_FRONT,0.8313,0.4250>. However, due to framelost corruption, some objects might not be visible in all frames.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a white business vehicle, not a traffic sign or road barrier, but it might not be visible in some frames due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_LEFT,0.8442,0.6028> considering framelost corruption? 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. However, due to framelost corruption, the visibility of the object might be inconsistent.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "38b3010304734913bb148d17ebbc352b",
    "frame_token": "e52eaf1605f04429a14478cf69129bd2",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking. The framelost corruption might affect the visibility of objects, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with wet roads and overcast skies, suggesting recent rain. A pedestrian with blue pants is moving on the sidewalk to the back right of the ego vehicle. A white business vehicle is moving to the back left. In front of the ego vehicle, there is a stationary black pickup truck and a white truck. Due to framelost corruption, some objects might not be visible in all frames, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296462662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296462654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296462670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296462687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296462697469.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296462678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Saturate. B. JPEG compression. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 6. C. 0. D. 2",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front of the ego vehicle, and a black pants pedestrian to the front right of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.2345,0.5451> and <c5,CAM_FRONT_RIGHT,0.4542,0.5870>. Due to frame loss, other objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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 to the left, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black motorhome, not a traffic sign or road barrier, but it may not be visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_BACK_RIGHT__1535657179678113.jpg"
    }
  },
  {
    "scene_token": "ea4c42715ae24b0b952c57a9af1e7731",
    "frame_token": "c542c9df7bab4a1fb5b23a856a143d9e",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right. Frame loss may obscure some objects, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss corruption? 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. However, frame loss may affect visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with a visible black SUV in front of the ego vehicle and a pedestrian wearing black pants to the front right. Due to frame loss, other objects such as the black motorhome and gray sedan may not be visible. The scene includes typical urban elements like traffic lights and road signs, but their visibility may be compromised.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-16-55-0400__CAM_FRONT__1535657179662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_LEFT__1535657179654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-16-55-0400__CAM_FRONT_RIGHT__1535657179670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-16-55-0400__CAM_BACK__1535657179687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-16-55-0400__CAM_BACK_LEFT__1535657179697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Dark. C. Sensor failure. D. JPEG compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 5. C. 3. D. 1",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, and this status remains unchanged despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, and this identification is consistent despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.1594,0.5722> considering the framelost corruption?",
    "answer": "Sharp right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193257377893.jpg"
    }
  },
  {
    "scene_token": "599c50b42e294116bd702c9e5cc830a3",
    "frame_token": "1f0482a12d6e4df3b93636c0fcb23831",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is captured under low-light conditions, with some camera frames missing due to framelost corruption. A black car is moving to the front right, identified by coordinates <c1,CAM_FRONT_RIGHT,0.1594,0.5722>. A black SUV is moving to the front left, identified by coordinates <c2,CAM_FRONT_LEFT,0.9000,0.6481>. A person is riding a motorcycle directly in front, identified by coordinates <c3,CAM_FRONT,0.2859,0.5917>. A white zebra crossing is visible at the back, identified by coordinates <c4,CAM_BACK,0.3664,0.8046>. The missing frames create challenges in continuous perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193257362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193257354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193257370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193257387545.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193257397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bit error. B. JPEG compression. C. Sensor failure. D. Bright",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 3. D. 2",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, some objects may not be visible. However, there is 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 <c3,CAM_BACK,0.5073,0.6648> and <c4,CAM_FRONT,0.5214,0.4412>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_LEFT,0.4523,0.6579> under framelost conditions? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a person riding a motorcycle, and it is moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a person riding a motorcycle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.4523,0.6579> under framelost 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": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_BACK_RIGHT__1531886121927893.jpg"
    }
  },
  {
    "scene_token": "1d4db80d13f342aba4881b38099bc4b7",
    "frame_token": "bd063ae874da437ab0db3e2137be5d15",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_LEFT,0.4523,0.6579> under framelost conditions?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The driving scene is urban with tall buildings on both sides. The road is narrow with a brown SUV visible behind the ego vehicle. A traffic light with a green light is visible ahead. Due to framelost corruption, some objects like the motorcycle and red car are not visible in the images. The environment appears clear for forward movement.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-50-34+0800__CAM_FRONT__1531886121912465.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_LEFT__1531886121904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-50-34+0800__CAM_FRONT_RIGHT__1531886121920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-50-34+0800__CAM_BACK__1531886121937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-50-34+0800__CAM_BACK_LEFT__1531886121947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Motion blur. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 4. D. 6",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 despite the frame loss, it is still moving to the left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is 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 <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>. The orange bus is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is an orange bus, not a traffic sign or road barrier, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Moderate right turn. Explanation: The orange bus is moving, and a right turn could lead to a collision, although the bus is not visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_BACK_RIGHT__1542194076677893.jpg"
    }
  },
  {
    "scene_token": "faa975eaad804c85bd8f2da9b30c8d9a",
    "frame_token": "99bcb06196bb4974bd600b4fc553caad",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking and maintain the current speed. Explanation: Maintaining speed and decelerating gradually are safe actions given the limited visibility due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is dark, with limited visibility due to frame loss. A black commercial vehicle is moving behind the ego vehicle. A silver sedan is moving ahead, and a red car is stationary in front. A 'please pass' sign is visible ahead. The orange bus is not visible due to frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-19-09-14+0800__CAM_FRONT__1542194076662460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_LEFT__1542194076654844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-19-09-14+0800__CAM_FRONT_RIGHT__1542194076670339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-19-09-14+0800__CAM_BACK__1542194076687525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-19-09-14+0800__CAM_BACK_LEFT__1542194076697423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Motion blur. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 1. D. 6",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a black car moving to the left, but due to framelost, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene given the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front left of the ego vehicle, a black small car to the back left of the ego vehicle, and a white bicycle lane to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.2026,0.5380>, <c2,CAM_BACK_LEFT,0.3203,0.6186>, and <c3,CAM_FRONT_RIGHT,0.5057,0.7596>. However, due to framelost, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice white bicycle lane at right camera. The object is a traffic sign, so the ego vehicle should turn right. Secondly notice black car at left camera. The object is turning left, so the ego vehicle should turn right. Thirdly notice black small car at left rear camera. The object is stationary, so the ego vehicle should turn right. Due to framelost, some objects may not be visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT_LEFT,0.2026,0.5380> considering framelost corruption? 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. However, due to framelost, the object may not be visible.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_BACK_RIGHT__1537299484628113.jpg"
    }
  },
  {
    "scene_token": "521f01dfc8c9402e8309e047e2eea112",
    "frame_token": "32cb24b62ecf49e8ac67220b8fa3f6c7",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking. Due to framelost, visibility is reduced, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. A black car is positioned to the front left of the ego vehicle, identified at coordinates (0.2026, 0.5380). A black small car is stationary at the back left, located at (0.3203, 0.6186). A white bicycle lane is visible to the front right at (0.5057, 0.7596). The visibility of these objects is compromised, making it challenging for the ego vehicle to make accurate decisions.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-15-26-58-0400__CAM_FRONT__1537299484612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_LEFT__1537299484604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-15-26-58-0400__CAM_FRONT_RIGHT__1537299484620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-15-26-58-0400__CAM_BACK__1537299484637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-15-26-58-0400__CAM_BACK_LEFT__1537299484647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Sensor failure. C. Rain. D. Zoom blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 6. C. 3. D. 4",
    "answer": "A. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.5052,0.5686> under framelost 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, but due to framelost, its movement might not be clearly visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white SUV to the back of the ego vehicle, a 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>. Despite framelost, these objects are crucial for decision-making.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6000,0.5491> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a stationary white SUV, not a traffic sign or road barrier, but framelost may obscure its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6000,0.5491> under framelost conditions?",
    "answer": "No such action will lead to a collision. Explanation: The white SUV is stationary and behind the ego vehicle, and framelost does not affect this assessment.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_BACK_RIGHT__1537296522528113.jpg"
    }
  },
  {
    "scene_token": "a6fae4900f8e46cba689b59b5bc8a2ab",
    "frame_token": "475b8b52d4c34324bc57fc121f615121",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK,0.6000,0.5491> under framelost 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. Framelost does not change this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with wet roads, indicating recent rain. The ego vehicle is surrounded by buildings on both sides. A stationary white SUV is located behind the ego vehicle, and a white motorhome is positioned to the front right. Directly ahead, a black sedan is moving forward, and a red light is visible in the distance. Framelost may obscure some details, but these key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-43-59-0400__CAM_FRONT__1537296522512404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_LEFT__1537296522504799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-43-59-0400__CAM_FRONT_RIGHT__1537296522520482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-43-59-0400__CAM_BACK__1537296522537558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-43-59-0400__CAM_BACK_LEFT__1537296522547405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Sensor failure. C. Color quant. D. Dark",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 6. C. 0. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, some objects may not be visible. However, 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": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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 and is turning left, but due to framelost corruption, it may not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a green bus, not a traffic sign or road barrier, but framelost corruption may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption?",
    "answer": "Brake suddenly, Explanation: Sudden braking can lead to a collision with the green bus, especially if framelost corruption affects the perception of its position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985171277893.jpg"
    }
  },
  {
    "scene_token": "fb255bba9b6a4f37a8894e336d2136f1",
    "frame_token": "6960470e56374cedb4fcdc7ea094d8ee",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering framelost corruption?",
    "answer": "Turn left, slightly offset to the left, Explanation: This action helps avoid potential collisions with the green bus, considering framelost corruption may obscure its movements.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a road scene with potential framelost corruption affecting visibility. Key objects include a green bus located at the back of the ego vehicle, a pedestrian in black pants at the front, a convex mirror also at the front, and a red sign to the back left. The framelost corruption may cause intermittent visibility of these objects, requiring careful navigation.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985171262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985171254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985171270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985171287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985171297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 0. C. 4. D. 2",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and despite the frame loss, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? 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 and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0674,0.4167> and <c3,CAM_FRONT,0.7051,0.3099>. The white truck to the back of the ego vehicle is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? 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?",
    "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. The white truck at back camera is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729512628113.jpg"
    }
  },
  {
    "scene_token": "f123185f3bb64faebc08d4453aec2659",
    "frame_token": "c76bf158abdb4dc189638184b51e0fcc",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is an urban intersection with some construction work visible. The ego vehicle is positioned at a traffic light, which is green, indicating it can proceed. A white truck is visible in front of the ego vehicle, turning left. Due to frame loss, the view from the back camera is not available, and any objects that might have been visible there are not included in the scene description.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729512612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729512604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729512620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729512637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729512647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Motion blur. C. Snow. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 0. D. 5",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, some objects may not be visible. However, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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 is moving, but due to frame loss, its exact movement direction might be unclear.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.6031,0.5463> a traffic sign or a road barrier considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a white sedan car and not a traffic sign or road barrier, but frame loss might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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. Frame loss does not change this action.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537289816678113.jpg"
    }
  },
  {
    "scene_token": "4a4d09496d594c7385a1ec227bdb3a7f",
    "frame_token": "d885687979384c1eb6bf37a5a0b8d9c3",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.6031,0.5463> considering the frame loss corruption?",
    "answer": "Back up. Frame loss might make it harder to detect the object, increasing the risk of collision if backing up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is affected by frame loss, causing some objects to be intermittently visible. A white sedan is positioned to the back of the ego vehicle, and another white sedan is to the front. A black SUV is moving at the back, and a red and white truck is stationary at the front. The scene is overcast, with wet roads indicating recent rain. The visibility of these objects may be compromised due to the frame loss, impacting the ego vehicle's perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537289816662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537289816654811.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537289816670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537289816689759.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537289816697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Sensor failure. C. Color quant. D. H256 ABR compression",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 2. C. 1. D. 6",
    "answer": "C. 1",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost 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, but due to framelost, its movement might not be clearly visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost? 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 and a white sedan car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3636,0.5620> and <c2,CAM_FRONT,0.2703,0.6000>. The black sedan to the front left <c3,CAM_FRONT_LEFT,0.7511,0.5972> might not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost 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 white sedan car at front camera, which is in a stationary state. The ego vehicle should continue moving forward at the same speed. Secondly, notice the black sedan at front camera, which is moving forward. The ego vehicle should continue moving ahead at the same speed. The black sedan at left camera might not be visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3636,0.5620> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, but its visibility might be affected by framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "In this scenario under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking, considering potential unseen obstacles due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290667778113.jpg"
    }
  },
  {
    "scene_token": "58af378ff68b49c99aabf320dca1ee25",
    "frame_token": "307e92d2e2e74d2095fee2527c96af1d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3636,0.5620> under framelost 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, although framelost might obscure some details. The probability of this action is high.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is rainy and overcast, with wet roads and reduced visibility. A black sedan is moving ahead in the front camera view at coordinates (0.3636, 0.5620). A white sedan is stationary in the front camera view at coordinates (0.2703, 0.6000). Due to framelost, some objects, such as the black sedan to the front left, might not be visible. The scene includes parked cars and a fenced area to the side.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290667762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290667754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290667770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290667787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290667797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Sensor failure. C. Fog. D. Color quant",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 0. D. 1",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.3677,0.5519> under framelost 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, but due to framelost, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost? 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 and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3677,0.5519> and <c3,CAM_FRONT,0.2986,0.5624>. The object at the back is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost 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?",
    "answer": "Firstly notice that white SUV at front camera. The object is turning left, so the ego vehicle should slow down and go ahead. Secondly, notice that white sedan at front camera. The object is turning left, so the ego vehicle should keep going ahead at the same speed. The object at the back is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3677,0.5519> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3677,0.5519> under framelost 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, but visibility may be affected by framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728870378113.jpg"
    }
  },
  {
    "scene_token": "26540bfbab79463cb1ba76b52ec6013b",
    "frame_token": "ba5c79c2ee1a4985b871f13e6c29cc49",
    "question_type": "robust_qas",
    "question": "In this scenario under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking, and turn left. Visibility is limited due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is a road with construction barriers on the right side, and trees in the background. The sky is partly cloudy. A white SUV is positioned at the front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3677,0.5519>. A white sedan is also at the front at coordinates <c3,CAM_FRONT,0.2986,0.5624>. Objects at the back are not visible due to framelost.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728870362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728870354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728870370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728870387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728870397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. H256 ABR compression. C. Motion blur. D. Snow",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 0. D. 6",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.5630,0.5806> considering the framelost corruption? 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, and its status is moving, but due to framelost corruption, it may not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow sedan to the front of the ego vehicle and a man wearing light blue jeans to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5630,0.5806> and <c2,CAM_FRONT,0.7333,0.5797>. Due to framelost corruption, objects at the back may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a yellow sedan, not a traffic sign or road barrier, but framelost corruption may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5630,0.5806> considering framelost corruption? 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, but framelost corruption may require additional caution.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_BACK_RIGHT__1538033794277893.jpg"
    }
  },
  {
    "scene_token": "c34206e65a1442828b950b0ca52098b7",
    "frame_token": "10a4d313c9d24514be3b9679b20d0f5d",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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. Framelost corruption may require more cautious decision-making.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a suburban street with houses on either side. A yellow sedan is moving ahead at coordinates <c1,CAM_FRONT,0.5630,0.5806>. A pedestrian wearing light blue jeans is stationary at coordinates <c2,CAM_FRONT,0.7333,0.5797>. Due to framelost corruption, objects behind the vehicle, such as a gray sedan and a white van, are not visible. The road is clear, but visibility is affected by the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-27-15-33-17+0800__CAM_FRONT__1538033794262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_LEFT__1538033794254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-27-15-33-17+0800__CAM_FRONT_RIGHT__1538033794270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-27-15-33-17+0800__CAM_BACK__1538033794287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-27-15-33-17+0800__CAM_BACK_LEFT__1538033794297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Fog. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 6. C. 0. D. 5",
    "answer": "B. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.6776,0.6009> considering the framelost corruption? 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, and despite the framelost corruption, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene given the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue car to the front of the ego vehicle, a silver sedan to the front of the ego vehicle, and a white sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6776,0.6009>, <c2,CAM_FRONT,0.8766,0.6148>, and <c3,CAM_BACK,0.5016,0.6000>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a blue car, not a traffic sign or road barrier, even with framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107660527893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "8e8e071e57d74e6c973ff03a4bf48ec6",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to framelost corruption, which affects the visibility of objects. However, key objects include a blue car at the front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.6776,0.6009>, a silver sedan also at the front at <c2,CAM_FRONT,0.8766,0.6148>, and a white sedan at the back at <c3,CAM_BACK,0.5016,0.6000>. The road is clear, and the ego vehicle can proceed with caution, maintaining awareness of these vehicles.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107660512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107660504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107660520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107660537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107660547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Color quant. C. Bright. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 5. C. 6. D. 4",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss in some cameras? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a gray sedan turning left, visible in the front camera despite frame loss in other cameras.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? 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 and a parking sign to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3833,0.5463> and <c3,CAM_FRONT,0.4021,0.5238>. The white SUV is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and is visible in the front camera.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107676377893.jpg"
    }
  },
  {
    "scene_token": "f9e460f092c94466b1211704b5a8859d",
    "frame_token": "4ebc2b692a244fb991436fde83519b7e",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering frame loss? 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?",
    "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. The white SUV is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with a gray sedan visible in the front camera, positioned at coordinates <c1,CAM_FRONT,0.3833,0.5463>. There is also a parking sign visible in the front camera at coordinates <c3,CAM_FRONT,0.4021,0.5238>. The scene is partially obscured due to frame loss, with some cameras not capturing any data, leading to missing views of certain areas.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107676362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107676354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107676370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107676387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107676397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Bit error. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 0. C. 6. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a black sedan turning right, but due to frame loss, its movement might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene despite the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, and a red car to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_LEFT,0.5312,0.5686>, <c2,CAM_FRONT,0.5261,0.6639>, and <c3,CAM_FRONT_RIGHT,0.2531,0.7898>. Frame loss may affect their visibility.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 given the frame loss?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, but frame loss might obscure its appearance.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering frame loss? 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. Frame loss may affect the timing of these observations.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, but frame loss might affect the perception of the vehicle's position.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280309927893.jpg"
    }
  },
  {
    "scene_token": "10dfdae842b543938a230f25a1e9f934",
    "frame_token": "2e3ff2906bc94da5943ac308568a88e1",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop or continue at the same speed. Frame loss should be considered when making these decisions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment includes a parking area with several vehicles. A silver sedan is stationary to the front left of the ego vehicle, positioned at coordinates <c1,CAM_FRONT_LEFT,0.5312,0.5686>. A black sedan, which is moving, is directly in front of the ego vehicle at coordinates <c2,CAM_FRONT,0.5261,0.6639>. To the front right, a red car is stationary at coordinates <c3,CAM_FRONT_RIGHT,0.2531,0.7898>. The frame loss may cause intermittent visibility of these objects, impacting the ego vehicle's perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280309912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280309904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280309920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280309937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280309947428.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Saturate. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 2. C. 5. D. 3",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, only the orange-red bus to the front of the ego vehicle is visible. The IDs of these objects are <c1,CAM_FRONT,0.2323,0.4722>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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 orange-red bus at front camera. It is turning left, so the ego vehicle should turn left. Secondly, due to frame loss, other objects are not visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is an orange-red bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2323,0.4722>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193266427893.jpg"
    }
  },
  {
    "scene_token": "242ac1b59fec4e0c9c200ffca81775e2",
    "frame_token": "d1128584076d4fa2bd256d3584340018",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is dark with limited visibility due to frame loss. The road is illuminated by streetlights, and there is an orange-red bus moving ahead in the center of the frame. The pedestrian and the black small car are not visible due to the frame loss, affecting the left and right camera views.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193266412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193266404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193266420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193266437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193266447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Fog. C. Dark. D. JPEG compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 0. C. 5. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 man wearing khaki pants 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,0.2984,0.5991>, <c3,CAM_FRONT_RIGHT,0.0000,0.7278>, and <c5,CAM_FRONT,0.6315,0.4329>. Due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 ahead, and the frame loss does not affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and it remains visible despite frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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. Frame loss does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Sharp left turn. The object may not be visible due to frame loss, but the risk remains.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with several key objects visible despite frame loss. A gray sedan is moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.2984,0.5991>. A pedestrian, a man wearing khaki pants, is moving to the front right at <c3,CAM_FRONT_RIGHT,0.0000,0.7278>. A red light is visible at <c5,CAM_FRONT,0.6315,0.4329>. Some objects may not be visible due to frame loss, affecting the completeness of the scene perception.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708377012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708377004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708377020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708377037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708377047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Dark. C. Zoom blur. D. JPEG compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 2. C. 0. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, but due to frame loss, its exact movement might be uncertain.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, but frame loss may obscure this.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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, although frame loss might affect visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Moderate left turn. Frame loss might obscure the sedan's exact position, increasing collision risk.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban street with buildings lining the sides. Due to frame loss, some areas are not visible. A silver sedan is moving ahead in the center lane, and a white SUV is to the front left. A pedestrian in a gray shirt is stationary at the back. The scene is partially obscured, making it challenging to perceive all elements accurately.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-56-46-0400__CAM_FRONT__1535731384762404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_LEFT__1535731384754799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-56-46-0400__CAM_FRONT_RIGHT__1535731384770482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-56-46-0400__CAM_BACK__1535731384787558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-56-46-0400__CAM_BACK_LEFT__1535731384797405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. C. Bit error. D. Saturate",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 2. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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, a unknown to the back of the ego vehicle, and a 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "A, Explanation: The object is a white SUV, and despite the framelost corruption, it is still turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that white SUV at right rear camera. The object is turning left, so the ego vehicle should continue ahead at the same speed. Secondly, notice that unable to confirm at back camera. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that unknown at back camera. The object is stationary, so the ego vehicle should continue ahead at the same speed.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white SUV, not a traffic sign or road barrier, even with framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_BACK_RIGHT,0.2062,0.6269> considering the framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to avoid a collision, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193172427893.jpg"
    }
  },
  {
    "scene_token": "e71f69d57d944b6cb0ffc516a88b6104",
    "frame_token": "6bfbe35d2a46497e8acd48b21be72f06",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is dimly lit with significant frame loss, making it challenging to perceive all objects clearly. A white SUV is visible to the back right of the ego vehicle, moving and turning left. Other objects are less discernible due to the corruption, with one stationary and another moving but unable to confirm details. The road ahead is partially visible, with some streetlights providing minimal illumination.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Rain. C. Bit error. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 6. C. 4. D. 2",
    "answer": "D. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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, 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>, and <c5,CAM_FRONT,0.9144,0.4198>. The objects in the corrupted frames are not visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, visible in the current frame.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a gray sedan, not a traffic sign or road barrier, and is visible in the current frame.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107762927893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "1bd11478010c476da4dad2c10168f811",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment shows a city intersection with some vehicles and pedestrians. A gray sedan is moving ahead in front of the ego vehicle at coordinates <c1,CAM_FRONT,0.3428,0.6324>. A white sedan is stationary at the front at coordinates <c2,CAM_FRONT,0.0479,0.5620>. The traffic light is green at coordinates <c5,CAM_FRONT,0.9144,0.4198>. Due to framelost corruption, some objects and scene elements are not visible in the corrupted frames.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107762912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107762904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107762920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107762937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107762947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. B. Color quant. C. Sensor failure. D. H256 ABR compression",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 5. C. 0. D. 1",
    "answer": "A. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, some objects may not be visible. However, 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": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, and despite the frame loss, it is still moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3398,0.6278> a traffic sign or a road barrier considering frame loss?",
    "answer": "No, Explanation: The object is a gray sedan car, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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. Frame loss does not affect these actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_BACK_RIGHT__1533107764427893.jpg"
    }
  },
  {
    "scene_token": "04061484361145f5ac6f90a5103b84a6",
    "frame_token": "23f212b3c76f4daebe7516b317f59442",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.3398,0.6278> considering frame loss? 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 frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with several trees and a building to the right. Despite frame loss, a gray sedan car is visible ahead of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.3398,0.6278>. A white sedan car is stationary to the front left at <c2,CAM_FRONT_LEFT,0.9563,0.5648>. A worker wearing a yellow safety helmet is moving to the front left at <c4,CAM_FRONT_LEFT,0.7651,0.5963>. Green lights are visible at <c5,CAM_FRONT_RIGHT,0.1835,0.4091> and <c6,CAM_FRONT,0.7141,0.3758>. The scene is partially obscured due to frame loss, affecting visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-15-10-21+0800__CAM_FRONT__1533107764412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_LEFT__1533107764404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-15-10-21+0800__CAM_FRONT_RIGHT__1533107764420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-15-10-21+0800__CAM_BACK__1533107764437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-15-10-21+0800__CAM_BACK_LEFT__1533107764447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. JPEG compression. C. Saturate. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 3. C. 5. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, but due to framelost, it may not be visible in all frames.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost 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 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>, <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>. The white sedan to the back may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.7636,0.6019> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, but it may not be visible in all frames due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost conditions?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537296993378113.jpg"
    }
  },
  {
    "scene_token": "76b36918bd4c487581a4196ffd1b1434",
    "frame_token": "acbf365ee227415b9e6377da815edd41",
    "question_type": "robust_qas",
    "question": "In this scenario under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop and brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is a rainy urban intersection with limited visibility due to framelost. A white sedan car is moving to the left in front of the ego vehicle. A blue SUV is stationary to the front right, and a black SUV is moving ahead. A black pickup truck is moving to the front left. A red light is visible ahead. The white sedan to the back is not visible due to framelost.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537296993362404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537296993354799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537296993370482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537296993387558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537296993397405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Bright. C. Snow. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 2. D. 0",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is orange and moving, but due to framelost, its visibility might be intermittent.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scene under framelost conditions? 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>. Note that some objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 under framelost conditions?",
    "answer": "No, Explanation: The object is not a traffic sign or road barrier, but its visibility might be affected by framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost, 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. These actions consider potential visibility issues due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> under framelost 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, even with potential visibility issues due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to framelost, affecting the visibility of several objects. An orange object is located at the front of the ego vehicle, while a blue object is positioned at the back. A purple object is also at the front, and a pink object is to the front left. A brown object is at the back. The construction site and surrounding elements may be intermittently visible due to the framelost condition.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-18-34+0800__CAM_FRONT__1531884538362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_LEFT__1531884538354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-18-34+0800__CAM_FRONT_RIGHT__1531884538370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-18-34+0800__CAM_BACK__1531884538387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-18-34+0800__CAM_BACK_LEFT__1531884538397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Sensor failure. C. Fog. D. Bit error",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 5. C. 6. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? Please select the correct answer from the following options: A. Turn left. B. Going ahead. C. Turn right.",
    "answer": "A, Explanation: The object is a white truck, but due to framelost, its movement might not be accurately captured.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost condition? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle, an orange truck to the back of the ego vehicle, a red truck to the back of the ego vehicle, a white SUV to the back of the ego vehicle, and a black sedan to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.4651,0.5120>, <c2,CAM_BACK,0.5958,0.5306>, <c3,CAM_BACK,0.5261,0.5333>, <c4,CAM_BACK,0.4948,0.5436>, and <c5,CAM_FRONT_RIGHT,0.1729,0.6352>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost condition?",
    "answer": "No, Explanation: The object is a white truck, but due to framelost, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.4651,0.5120> considering the framelost condition?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_BACK_RIGHT__1533153459878113.jpg"
    }
  },
  {
    "scene_token": "b0b26c1e5a1140e69598422f12ae1dc0",
    "frame_token": "e256cf1605074ced9afc24d78efd5449",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the framelost condition?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost. In the visible frames, there is a white truck moving ahead of the ego vehicle. Behind the ego vehicle, there are an orange truck and a red truck, both moving. A white SUV is stationary behind the ego vehicle. To the front right, a black sedan is stationary. The scene includes urban elements like buildings and roads, but some details are missing due to the framelost.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-01-15-52-19-0400__CAM_FRONT__1533153459862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_LEFT__1533153459854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-01-15-52-19-0400__CAM_FRONT_RIGHT__1533153459870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-01-15-52-19-0400__CAM_BACK__1533153459887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-01-15-52-19-0400__CAM_BACK_LEFT__1533153459897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Sensor failure. C. Bit error. D. Zoom blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 5. C. 0. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.1626,0.7806> considering the framelost corruption? 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, but due to framelost, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a man in a green shirt to the front left of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT_LEFT,0.6646,0.5009>. Other objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black sedan, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985594277893.jpg"
    }
  },
  {
    "scene_token": "773e6b4f990f4044bed5ea7036ea7c3b",
    "frame_token": "f5a6ae68835e475b89d287144cf18057",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to keep going at the same speed. The reason is to maintain a safe distance, which is high, but the object may not be visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to framelost corruption. A man in a green shirt is visible to the front left of the ego vehicle at coordinates <c2,CAM_FRONT_LEFT,0.6646,0.5009>. Other vehicles, such as the black sedan and SUV, may not be visible due to the corruption. The surroundings include a grassy area and a university sign, but details are limited.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985594262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985594254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985594270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985594287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985594297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Sensor failure. C. JPEG compression. D. Saturate",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 0. C. 4. D. 5",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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>. However, some objects may not be visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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. However, due to frame loss, the visibility of the bus may be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice 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. However, due to frame loss, some objects may not be visible.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a gray sedan, and it is not a traffic sign or road barrier. However, due to frame loss, the visibility of the sedan may be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Back up. However, due to frame loss, the visibility of the green bus may be compromised, increasing the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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. However, due to frame loss, the visibility of the gray sedan may be compromised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss corruption. The ego vehicle is on a road with a left turn landmark line visible in front. A green bus is moving to the back of the vehicle, and a gray sedan is stationary to the back right. The visibility of these objects may be compromised, affecting the ego vehicle's perception and decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985165612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985165604864.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985165620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985165637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985165647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Bit error. C. Motion blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 1. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, and despite the framelost condition, it is turning left.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white small car to the front of the ego vehicle and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.6739,0.5750> and <c3,CAM_FRONT,0.5239,0.3076>. The red small car is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost 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?",
    "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. The red small car is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.6739,0.5750> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.6739,0.5750> under framelost 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708595678113.jpg"
    }
  },
  {
    "scene_token": "22daa579e9d54040b3f76a4eeef3a587",
    "frame_token": "ffef59aafdc441ae8ae760d946964a5c",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.6739,0.5750> under framelost conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a mix of stationary and moving vehicles. A white small car is stationary at the front of the ego vehicle, located at coordinates <0.6739, 0.5750>. A red light is visible at the front, positioned at <0.5239, 0.3076>. Due to framelost, the red small car to the front right is not visible. The scene includes typical urban elements like buildings and traffic signals.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708595662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708595654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708595671013.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708595687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708595697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Bit error. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 1. C. 3. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption? 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, and it is moving ahead despite the frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss corruption?",
    "answer": "No, Explanation: The object is a black SUV and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708062628113.jpg"
    }
  },
  {
    "scene_token": "87a71839e68b46da8e91fb5f21b50c1c",
    "frame_token": "d09b0b7070c54ec6ab0554fa10268ed8",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss corruption, 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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss corruption?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with several vehicles and a traffic light. A black SUV is stationary at the back of the ego vehicle, positioned at coordinates <c1,CAM_BACK,0.5839,0.7259>. In front of the ego vehicle, a white sedan is moving, located at <c2,CAM_FRONT,0.4651,0.5658>. A gray sedan is stationary at <c3,CAM_FRONT,0.0875,0.7620>, and a black sedan is moving at <c4,CAM_FRONT,0.6292,0.5556>. A traffic light is visible at <c5,CAM_FRONT,0.4743,0.3944>. Despite the frame loss, these objects are identified and considered for decision-making.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708062612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708062604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708062620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708062637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708062647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Rain. B. Sensor failure. C. JPEG compression. D. Snow",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 3. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? 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 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> and <c4,CAM_FRONT_RIGHT,0.5034,0.5279>. The black sedan and blue sedan are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a blue and white truck, which is stationary.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_BACK_RIGHT__1531883531927893.jpg"
    }
  },
  {
    "scene_token": "73030fb67d3c46cfb5e590168088ae39",
    "frame_token": "8de7ec06e1ac48c689c4d24d6cc64fd7",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and turn left. The framelost does not affect the visibility of the truck and traffic light.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Sharp right turn. The framelost does not affect the visibility of the truck.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. To the front of the ego vehicle, there is a stationary blue and white truck located at coordinates <c1,CAM_FRONT,0.5113,0.5570>. A black traffic light is visible to the front right at coordinates <c4,CAM_FRONT_RIGHT,0.5034,0.5279>. The back view is obscured, and the black sedan and blue sedan are not visible. The road appears clear ahead, with some greenery and a building visible on the sides.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-18-11-07-57+0800__CAM_FRONT__1531883531912467.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_LEFT__1531883531904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-18-11-07-57+0800__CAM_FRONT_RIGHT__1531883531920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-18-11-07-57+0800__CAM_BACK__1531883531937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-18-11-07-57+0800__CAM_BACK_LEFT__1531883531947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Sensor failure. C. Color quant. D. Dark",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 2. D. 5",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, but due to framelost, it may not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front right 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 <c2,CAM_FRONT_RIGHT,0.5984,0.4926>, <c5,CAM_FRONT,0.2068,0.5898>, and <c6,CAM_FRONT,0.6416,0.2276>. Other objects may not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_BACK,0.4286,0.5528> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a white truck, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost conditions?",
    "answer": "Back up, Explanation: The object is a white truck behind the ego vehicle, but it may not be visible due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_BACK_RIGHT__1537290306928113.jpg"
    }
  },
  {
    "scene_token": "5c76a3728b8b4d02ae20bd69fb928aa1",
    "frame_token": "abfad6a00c194660abc85b9a1f215190",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, slightly offset to the right, Explanation: This action avoids potential unseen obstacles due to framelost.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is a busy urban intersection with several construction sites visible. Due to framelost, some camera views are unavailable, limiting visibility. A white truck is stationary at the front right of the ego vehicle, and a black sedan is moving ahead. The traffic light is green, indicating it is safe to proceed. The IDs of visible objects are <c2,CAM_FRONT_RIGHT,0.5984,0.4926>, <c5,CAM_FRONT,0.2068,0.5898>, and <c6,CAM_FRONT,0.6416,0.2276>.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-12-53-31-0400__CAM_FRONT__1537290306912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_LEFT__1537290306904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-12-53-31-0400__CAM_FRONT_RIGHT__1537290306920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-12-53-31-0400__CAM_BACK__1537290306937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-12-53-31-0400__CAM_BACK_LEFT__1537290306947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Bit error. C. Bright. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 6. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, only the black car to the front of the ego vehicle is visible. The IDs of these objects are <c1,CAM_FRONT,0.9948,0.7186>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800525027893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "6701ecd1c9ca4e8c910aa4de6c0bd1e7",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.9948,0.7186> under framelost 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": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions?",
    "answer": "Slight right turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is affected by framelost corruption, resulting in limited visibility. A black car is visible in front of the ego vehicle, moving to the right. Other objects are not visible due to the corruption. The environment is dimly lit, with streetlights providing some illumination. The road appears to be a multi-lane street with traffic lights visible in the distance.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800525012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800525004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800525020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800525037528.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800525047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Zoom blur. C. Motion blur. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 0. C. 5. D. 6",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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 and a black car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.5271,0.5620> and <c2,CAM_FRONT,0.4313,0.6380>. The white sedan car to the back and the traffic light are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, and its status remains unchanged despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white sedan, not a traffic sign or road barrier, and its identification is unaffected by the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.5271,0.5620> considering the framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_BACK_RIGHT__1542800521427893.jpg"
    }
  },
  {
    "scene_token": "567fcd99d0dc4fa088f52b047f4ebdcf",
    "frame_token": "bf0bb329b6db4de395d61f138c9e0eaf",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. A white sedan is moving ahead of the ego vehicle at coordinates (0.5271, 0.5620), and a black car is also moving ahead at coordinates (0.4313, 0.6380). The back view and traffic light are not visible. The road appears to be clear, and the surroundings are dimly lit.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800521412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800521404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800521420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800521437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800521447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. C. Color quant. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 1. C. 6. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is 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 <c2,CAM_FRONT,0.1386,0.5481> and <c3,CAM_FRONT_RIGHT,0.1594,0.6574>. The blue sedan is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Going ahead. B. Turn right. C. Turn left.",
    "answer": "B, Explanation: The object is not visible due to framelost, but the original status was turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is not visible due to framelost, but it was originally identified as a vehicle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "answer": "Firstly, notice the orange bicycle at the front right camera. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice the pedestrian on the roadside at the front camera. It is moving, so the ego vehicle should be cautious and ready to slow down if necessary. The blue sedan is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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. The object is not visible due to framelost, but the original action was to maintain speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The framelost corruption does not affect these actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a building and some greenery visible. A pedestrian is on the roadside to the front of the ego vehicle, positioned at coordinates <c2,CAM_FRONT,0.1386,0.5481>. An orange bicycle is stationary to the front right of the ego vehicle, located at <c3,CAM_FRONT_RIGHT,0.1594,0.6574>. Due to framelost corruption, the blue sedan at the back is not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-16-41-59+0800__CAM_FRONT__1533113026362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_LEFT__1533113026354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-16-41-59+0800__CAM_FRONT_RIGHT__1533113026370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-16-41-59+0800__CAM_BACK__1533113026387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-16-41-59+0800__CAM_BACK_LEFT__1533113026397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Fog. C. Sensor failure. D. Saturate",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 4. C. 2. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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 and a pedestrian wearing black clothes to the front right of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3812,0.5528> and <c2,CAM_FRONT_RIGHT,0.5308,0.5722>. The white lines are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 and is moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black small car, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_BACK_RIGHT__1532402734428280.jpg"
    }
  },
  {
    "scene_token": "83773bcf46ac486383529098de0542dd",
    "frame_token": "97915d59900b472687a7baed3280dddf",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene is partially visible due to framelost corruption. A black small car is moving to the front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.3812,0.5528>. A pedestrian wearing black clothes is moving to the front right of the ego vehicle, located at <c2,CAM_FRONT_RIGHT,0.5308,0.5722>. The surrounding environment is obscured, and some traffic elements like white lines are not visible.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-22-45+0800__CAM_FRONT__1532402734412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_LEFT__1532402734404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-22-45+0800__CAM_FRONT_RIGHT__1532402734420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-22-45+0800__CAM_BACK__1532402734437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-22-45+0800__CAM_BACK_LEFT__1532402734447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. JPEG compression. C. Rain. D. Motion blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 5. C. 3. D. 6",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, only the black SUV to the front of the ego vehicle is visible. The ID of this object is <c2,CAM_FRONT,0.2036,0.5953>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT_RIGHT,0.7531,0.5889> under frame loss 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, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under frame loss 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. Other objects are not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.7531,0.5889> a traffic sign or a road barrier under frame loss conditions?",
    "answer": "No, Explanation: The object is a white sedan, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,0.7531,0.5889> under frame loss conditions?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_FRONT_RIGHT,0.7531,0.5889> as it is not visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193395377893.jpg"
    }
  },
  {
    "scene_token": "fdf27bbde3e345bd9ac83cbe9a3c813a",
    "frame_token": "b3b29fa2928c4bdba8b657112c1cc222",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. The road is dimly lit with some streetlights visible. The only visible vehicle is a black SUV moving ahead at the front of the ego vehicle, located at coordinates <c2,CAM_FRONT,0.2036,0.5953>. Other vehicles and objects are not visible due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193395362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193395354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193395370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193395387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193395397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Dark. C. JPEG compression. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 2. C. 1. D. 6",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is 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 <c2,CAM_FRONT,0.3786,0.6222> and <c3,CAM_FRONT,0.5937,0.6243>. The white SUV is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is not visible due to framelost, but previously it was turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is not visible due to framelost, but it was previously identified as a white SUV.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take?",
    "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. The white SUV is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_BACK_RIGHT__1532662086377893.jpg"
    }
  },
  {
    "scene_token": "c74a3a7265ae45f99f65628fbd7cd2a4",
    "frame_token": "f81205e1d792497cba901c08e7812dc6",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the framelost corruption?",
    "answer": "Keep going at the same speed and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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 is not visible due to framelost, but previously it had little reference value for the ego vehicle, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The scene shows a road with a bicycle positioned at the front of the ego vehicle, located at coordinates <c2,CAM_FRONT,0.3786,0.6222>. The road ahead is relatively empty, indicated by coordinates <c3,CAM_FRONT,0.5937,0.6243>. The environment is sunny with clear skies, and there are trees lining the road. The white SUV is not visible due to framelost corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-24-31+0800__CAM_FRONT__1532662086362460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_LEFT__1532662086354844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-24-31+0800__CAM_FRONT_RIGHT__1532662086370339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-24-31+0800__CAM_BACK__1532662086387525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-24-31+0800__CAM_BACK_LEFT__1532662086397423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Color quant. C. Dark. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 0. D. 3",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.9859,0.7139> considering the framelost condition? 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, but due to framelost, it may not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white van to the front of the ego vehicle, a white SUV to the front of the ego vehicle, a black car to the back of the ego vehicle, a white bus to the back of the ego vehicle, and a white truck to the back left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.9859,0.7139>, <c2,CAM_FRONT,0.1886,0.5803>, <c3,CAM_BACK,0.5339,0.5861>, <c4,CAM_BACK,0.4161,0.5370>, and <c5,CAM_BACK_LEFT,0.8808,0.4547>. Note that some objects might not be visible at all times due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering framelost?",
    "answer": "No, Explanation: The object is a white van, not a traffic sign or road barrier, but it may not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_BACK_RIGHT__1538985277277893.jpg"
    }
  },
  {
    "scene_token": "034256c9639044f98da7562ef3de3646",
    "frame_token": "c1101ac46cac4d18af91afc641e6bc58",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.9859,0.7139> under framelost 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. Framelost may affect the visibility of the van, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, decelerate gradually without braking. Framelost may cause intermittent visibility of objects, so these actions ensure safety.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost, with some frames missing. A white van is positioned at the front of the ego vehicle, moving to the right. A white SUV is stationary at the front. Behind the ego vehicle, a black car is moving, and a white bus is stationary. To the back left, a white truck is stationary. The surroundings include a bus stop and some greenery, but these may not be consistently visible due to the framelost condition.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985277262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985277254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985277270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985277287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985277297425.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Motion blur. C. Snow. D. Bit error",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 2. B. 5. C. 6. D. 3",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a yellow construction vehicle to the front left of the ego vehicle. The IDs of these objects are <c3,CAM_FRONT_LEFT,0.4016,0.5194>. The black and gray sedans are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? Please select the correct answer from the following options: A. Going ahead. B. Turn left. C. Turn right.",
    "answer": "C, Explanation: The object is not visible due to frame loss, but the previous status was moving ahead.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black sedan, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss? 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. The black and gray sedans are not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 is not visible due to frame loss, with a high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Back up, but the object is not visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. The visible scene shows a construction area with a yellow construction vehicle to the front left of the ego vehicle at coordinates <c3,CAM_FRONT_LEFT,0.4016,0.5194>. The rest of the scene, including the black and gray sedans, is not visible due to frame loss. The road appears clear in the visible sections, and the ego vehicle can proceed with caution.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-27-11-48-51-0400__CAM_FRONT__1535385060162664.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_LEFT__1535385060154799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-27-11-48-51-0400__CAM_FRONT_RIGHT__1535385060170482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-27-11-48-51-0400__CAM_BACK__1535385060187558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-27-11-48-51-0400__CAM_BACK_LEFT__1535385060197405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bit error. C. JPEG compression. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 4. D. 0",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering the framelost corruption, what are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black 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": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost 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 framelost condition does not affect its movement status.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Under framelost conditions, is <c1,CAM_BACK,0.4745,0.6686> a traffic sign or a road barrier?",
    "answer": "No, Explanation: The object is a stationary black car, not a traffic sign or road barrier, and the framelost condition does not change its identity.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Considering framelost corruption, what actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.4745,0.6686>?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "Under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, slightly offset to the right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is a tree-lined road with a slight incline. 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 stationary. In front of the ego vehicle, a black sedan is moving, and there is a red light visible. The framelost condition affects some camera views, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845294762460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845294754844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845294770339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845294787525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845294797423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. JPEG compression. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 1. D. 2",
    "answer": "B. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black SUV to the front left of the ego vehicle and blue and white checkered clothes pedestrians to the front right of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT_LEFT,0.5547,0.7917> and <c3,CAM_FRONT_RIGHT,0.5094,0.6111>. The silver pickup truck and red light are not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is not visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867373878113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "62ac9e73d0eb4c7a9b537384270efb2f",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a mix of pedestrians and vehicles. A black SUV is stationary to the front left of the ego vehicle, and pedestrians in blue and white checkered clothes are moving to the front right. The silver pickup truck and red light are not visible due to framelost. The scene includes buildings and a waterfront area, with cloudy skies overhead.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867373862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867373854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867373870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867373887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867373897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Sensor failure. C. Color quant. D. Saturate",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 3. C. 5. D. 6",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, its movement might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? 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, and a woman wearing blue jeans to the front right of the ego vehicle. The IDs of these objects are <c2,CAM_FRONT,0.3901,0.6991> and <c3,CAM_FRONT_RIGHT,0.4562,0.7824>. The silver truck at the back is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_BACK_RIGHT__1534867371928113.jpg"
    }
  },
  {
    "scene_token": "892ed06c432448fe87ecb5d31756f14a",
    "frame_token": "36b6aa58462449b1b9285954cede8f22",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering frame loss? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice a woman wearing blue jeans at right camera. The object is going ahead, so the ego vehicle should slow down and continue going ahead. Secondly, notice black sedan at front camera. The object is stationary, so the ego vehicle should slow down and continue going ahead. The silver truck at back camera is not visible due to frame loss.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a silver truck, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, but the silver truck is not visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "Brake suddenly, but the silver truck is not visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is partially visible due to frame loss. In the visible frame, there is a black sedan stationary in front of the ego vehicle, located at coordinates <c2,CAM_FRONT,0.3901,0.6991>. To the front right, a woman wearing blue jeans is moving, positioned at <c3,CAM_FRONT_RIGHT,0.4562,0.7824>. The environment appears urban with buildings and a bridge in the background. However, the silver truck that was initially at the back is not visible due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-21-11-53-44-0400__CAM_FRONT__1534867371912404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_LEFT__1534867371904799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-21-11-53-44-0400__CAM_FRONT_RIGHT__1534867371920482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-21-11-53-44-0400__CAM_BACK__1534867371937558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-21-11-53-44-0400__CAM_BACK_LEFT__1534867371947405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. H256 ABR compression. C. Snow. D. Saturate",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 1. B. 4. C. 6. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_FRONT,0.8583,0.4000> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is a white truck, and despite the framelost corruption, it is identified as turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_BACK_RIGHT__1537292827028113.jpg"
    }
  },
  {
    "scene_token": "28db6ee9a8d34e9e88e741817b6733c1",
    "frame_token": "09c9c4b894a9460a836118ea0554b867",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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 and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.5042,0.7528> and <c2,CAM_FRONT,0.8583,0.4000>. The black sedan car and white motorhome are not visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white sedan car, and it is not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is rainy with wet roads, and visibility is partially obstructed due to framelost corruption. A white sedan car is stationary at the back of the ego vehicle, located at coordinates <c1,CAM_BACK,0.5042,0.7528>. A white truck is moving in front of the ego vehicle at coordinates <c2,CAM_FRONT,0.8583,0.4000>. Other vehicles, such as a black sedan car and a white motorhome, are not visible due to the corruption.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-41-50-0400__CAM_FRONT__1537292827012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_LEFT__1537292827004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-41-50-0400__CAM_FRONT_RIGHT__1537292827020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-41-50-0400__CAM_BACK__1537292827037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-41-50-0400__CAM_BACK_LEFT__1537292827047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Bright. C. Snow. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 4. C. 6. D. 1",
    "answer": "C. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, some objects might not be visible. However, 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": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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 despite frame loss, it is identified as moving.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535728919878113.jpg"
    }
  },
  {
    "scene_token": "363bb6c0fdaf465aa54c39f082bb92c6",
    "frame_token": "297cef22e0f143ceb1e4ef93088bcfb2",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT_RIGHT,0.0120,0.4880> a traffic sign or a road barrier considering frame loss?",
    "answer": "No, Explanation: The object is a black business car, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Why take this action and what's the probability?",
    "answer": "The action is to turn right. The reason is to follow the traffic rules, which is high probability.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to frame loss, which affects the visibility of objects. However, key objects include a black business car to the front right, a white and blue SUV directly ahead, and a white SUV moving behind. A white truck is stationary to the back left, and a white business car is to the front left. A red light is visible ahead. The positions 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": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535728919862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535728919854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535728919870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535728919887928.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535728919897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Dark. C. Sensor failure. D. Zoom blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 2. C. 3. D. 6",
    "answer": "D. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, the visibility of objects may be compromised. However, 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": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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, but frame loss may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "No, Explanation: The object is a black sedan, not a traffic sign or road barrier, but frame loss may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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, but frame loss may affect the perception of the object's movement.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. Frame loss may affect the perception of surrounding objects, so caution is advised.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The driving scene is affected by frame loss, which may obscure some objects. However, a black sedan is positioned to the front right of the ego vehicle, a black car is located to the back, and another black sedan car is also at the back. A green light is visible to the front. The positions 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>. The environment appears to be a typical urban setting with traffic elements present.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-21-19-38-26+0800__CAM_FRONT__1542800545012460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_LEFT__1542800545004844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-21-19-38-26+0800__CAM_FRONT_RIGHT__1542800545020339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-21-19-38-26+0800__CAM_BACK__1542800545037525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-21-19-38-26+0800__CAM_BACK_LEFT__1542800545047423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Sensor failure. C. Saturate. D. Dark",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 3. D. 5",
    "answer": "D. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "There is 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 <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": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 back of the ego vehicle, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a gray business vehicle moving to the back of the ego vehicle, but it is not visible due to frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, brake gently to stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_BACK_RIGHT__1532708439878113.jpg"
    }
  },
  {
    "scene_token": "0053e9c440a94c1b84bd9c4223efc4b0",
    "frame_token": "0dc8558714314cce961af9e7de403517",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.2781,0.6250> considering the frame loss?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban intersection with several visible objects despite frame loss. To the front right, there is a white truck and a gray short-sleeved pedestrian. Directly in front, a brown pants pedestrian is crossing the street. A black car is stationary to the front right, and a black sedan is stationary in front of the ego vehicle. The scene is partially obscured due to frame loss, affecting the visibility of some objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-07-27-12-07-38-0400__CAM_FRONT__1532708439862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_LEFT__1532708439854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-07-27-12-07-38-0400__CAM_FRONT_RIGHT__1532708439870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-07-27-12-07-38-0400__CAM_BACK__1532708439887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-07-27-12-07-38-0400__CAM_BACK_LEFT__1532708439897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Fog. C. Sensor failure. D. Saturate",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 5. C. 0. D. 1",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is 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 <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>. The red car <c1,CAM_BACK_RIGHT,0.8854,0.5806> might not be visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering frame loss?",
    "answer": "No, Explanation: The object is a red car, but due to frame loss, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986223277893.jpg"
    }
  },
  {
    "scene_token": "212fd4c9c9174635a7ec76051c8eec9e",
    "frame_token": "f694bb78aa7c47b98e6bd2ad1b2329f0",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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, considering the potential invisibility of some objects due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "No action taken by the ego vehicle will lead to a collision with <c1,CAM_BACK_RIGHT,0.8854,0.5806>, but the object might not be visible due to frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to frame loss. The road curves to the right with a white sedan visible to the front right of the ego vehicle. A person riding a black motorcycle and a white truck are moving to the back left. The red car to the back right might not be visible. The surroundings include buildings and greenery, but some details are obscured due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986223262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986223254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986223270356.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986223287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986223297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Color quant. C. Sensor failure. D. Fog",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 3. C. 5. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, and despite the framelost corruption, it is moving to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? 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>. Despite the framelost corruption, these objects are still considered important.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a pedestrian, specifically a man with a backpack, and not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_BACK_RIGHT__1535488286678113.jpg"
    }
  },
  {
    "scene_token": "a25d763258dc4526b52759b3ddaad7ec",
    "frame_token": "b67b4af69b6a46c3bfb1ba76450b0310",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed and change to the right lane. Despite the framelost corruption, this action remains safe.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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. The framelost corruption does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with some frames lost due to corruption. To the front right of the ego vehicle, there is a stationary man with a backpack. Behind the ego vehicle, a white pickup truck is moving. In front of the ego vehicle, a white sedan is stationary. To the front left, a man is riding a bicycle. The framelost corruption affects some camera views, but key objects remain identifiable.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-28-16-16-48-0400__CAM_FRONT__1535488286662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_LEFT__1535488286654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-28-16-16-48-0400__CAM_FRONT_RIGHT__1535488286670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-28-16-16-48-0400__CAM_BACK__1535488286687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-28-16-16-48-0400__CAM_BACK_LEFT__1535488286697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bright. C. Rain. D. Zoom blur",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 6. C. 5. D. 0",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> given the framelost corruption? 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 behind the ego vehicle, but due to framelost corruption, its exact movement might be unclear.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_BACK_RIGHT__1537290878278113.jpg"
    }
  },
  {
    "scene_token": "e329b73341204af7a9de29e65291ce1c",
    "frame_token": "8a622afe1c5c4ef0b8ceb9addf736137",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,0.3239,0.5889> under framelost corruption?",
    "answer": "Brake suddenly.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to framelost corruption, making some objects less visible. However, a black car is moving behind the ego vehicle, located at coordinates <c1,CAM_BACK,0.3239,0.5889>. A blue pickup truck is stationary to the back left at <c2,CAM_BACK_LEFT,0.4942,0.6787>. A red car is stationary in front at <c3,CAM_FRONT,0.0370,0.7203>, and a white sedan car is stationary to the front left at <c4,CAM_FRONT_LEFT,0.4255,0.7314>. The framelost corruption affects the clarity of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-13-10-39-0400__CAM_FRONT__1537290878262404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_LEFT__1537290878254804.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-13-10-39-0400__CAM_FRONT_RIGHT__1537290878270482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-13-10-39-0400__CAM_BACK__1537290878287558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-13-10-39-0400__CAM_BACK_LEFT__1537290878297405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Color quant. B. Motion blur. C. H256 ABR compression. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 5. C. 3. D. 4",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "The visible important object is a man wearing black clothes to the back left of the ego vehicle. The ID of this object is <c3,CAM_BACK_LEFT,0.9483,0.6769>. The other objects are not visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_BACK,0.3263,0.6722> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is not visible due to framelost corruption, but the status remains unchanged.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a vehicle, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that 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. The other objects are not visible due to framelost corruption.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Brake suddenly. The object is not visible due to framelost corruption, but the risk remains.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_BACK_RIGHT__1532663026927893.jpg"
    }
  },
  {
    "scene_token": "b886756c3fd641eeba9dda3932e196c0",
    "frame_token": "d3f914f3a4a9477a9070d34db98440bc",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Turn right, decelerate gradually without braking. The decision is based on the visible objects.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. The visible scene includes a man wearing black clothes stationary at the back left of the ego vehicle. The rest of the scene is obscured, making it challenging to identify other objects or their movements. The road appears clear in the visible section, but caution is advised due to limited visibility.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-27-11-36-48+0800__CAM_FRONT__1532663026912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_LEFT__1532663026904844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-27-11-36-48+0800__CAM_FRONT_RIGHT__1532663026920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-27-11-36-48+0800__CAM_BACK__1532663026937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-27-11-36-48+0800__CAM_BACK_LEFT__1532663026947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. JPEG compression. B. Rain. C. Sensor failure. D. Motion blur",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 3. C. 0. D. 2",
    "answer": "B. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but due to framelost, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a blue SUV to the back of the ego vehicle, a white van to the front left of the ego vehicle, a pedestrian wearing a white shirt to the front of the ego vehicle, and a black sedan to the back of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,0.4239,0.5861>, <c2,CAM_FRONT_LEFT,0.2411,0.3547>, <c3,CAM_FRONT,0.3886,0.5686>, and <c4,CAM_BACK,0.2807,0.6139>. Note that some objects might not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a blue SUV, not a traffic sign or road barrier, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 scenario with framelost corruption, 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. However, caution is needed due to potential visibility issues.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 can lead to a collision with <c1,CAM_BACK,0.4239,0.5861> considering the framelost corruption?",
    "answer": "Back up. The blue SUV might not be visible due to framelost, increasing the risk of collision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban road with traffic lights and a pedestrian crossing. To the front, there is a pedestrian wearing a white shirt walking along the sidewalk. A white van is parked to the front left. To the back, there is a blue SUV and a black sedan, both moving. The framelost corruption causes some camera views to be completely black, making it challenging to perceive all objects accurately.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-15-52-24+0800__CAM_FRONT__1538985576412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_LEFT__1538985576404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-15-52-24+0800__CAM_FRONT_RIGHT__1538985576420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-15-52-24+0800__CAM_BACK__1538985576437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-15-52-24+0800__CAM_BACK_LEFT__1538985576447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. H256 ABR compression. B. Rain. C. Sensor failure. D. Bit error",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 2. C. 1. D. 4",
    "answer": "A. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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 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>, <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 walking person to the front left is not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 to the right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a yellow and white bus, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "Back up.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_BACK_RIGHT__1535729275028113.jpg"
    }
  },
  {
    "scene_token": "84f4c0747550493f959595dae6785cd3",
    "frame_token": "d100b9b08be9440498d7abf933732f5f",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking; keep going at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene is set on a bridge with a clear view of the city skyline. To the back of the ego vehicle, there is a yellow and white bus and a black sedan. A walking person is also visible to the back. On the left side, a black car is moving. A silver sedan is also present to the back. The front left pedestrian is not visible due to frame loss, affecting the overall perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-31-11-19-57-0400__CAM_FRONT__1535729275012404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_LEFT__1535729275004799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-31-11-19-57-0400__CAM_FRONT_RIGHT__1535729275020482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-31-11-19-57-0400__CAM_BACK__1535729275037558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-31-11-19-57-0400__CAM_BACK_LEFT__1535729275047405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Motion blur. B. Sensor failure. C. Color quant. D. Bit error",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 4. C. 1. D. 0",
    "answer": "A. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, the visibility of objects is compromised. However, the key objects include a white sedan car, a blue sedan, another white sedan, a white van, and a red light. 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": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.4797,0.5703> considering frame loss? 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, and despite frame loss, it is turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.4797,0.5703> a traffic sign or a road barrier considering frame loss?",
    "answer": "No, Explanation: The object is a white sedan car, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss?",
    "answer": "Accelerating and going straight, Explanation: The ego vehicle risks collision if it accelerates and goes straight towards the white sedan car, despite frame loss.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_BACK_RIGHT__1533280042627893.jpg"
    }
  },
  {
    "scene_token": "54cdaaae372d421fa4734d66f51a8c48",
    "frame_token": "1b45a97a0e5e49fe9cd345dd4bd729c3",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.4797,0.5703> considering frame loss? 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, even with frame loss affecting visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with a large building on the right and a road curving to the left. Due to frame loss, visibility is reduced, but key objects include a white sedan car at position <c1,CAM_FRONT,0.4797,0.5703>, a blue sedan at <c2,CAM_FRONT_RIGHT,0.2625,0.6000>, another white sedan at <c3,CAM_FRONT_RIGHT,0.4922,0.5880>, a white van at <c4,CAM_FRONT,0.0083,0.5278>, and a red light at <c5,CAM_FRONT,0.4441,0.3788>. The road is clear, but caution is required due to the compromised sensor data.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-03-15-00-36+0800__CAM_FRONT__1533280042612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_LEFT__1533280042604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-03-15-00-36+0800__CAM_FRONT_RIGHT__1533280042620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-03-15-00-36+0800__CAM_BACK__1533280042637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-03-15-00-36+0800__CAM_BACK_LEFT__1533280042647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Bit error. C. Zoom blur. D. Bright",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 5. C. 6. D. 1",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to framelost corruption, only the truck to the front of the ego vehicle and the red light are visible. The IDs of these objects are <c4,CAM_FRONT,0.2484,0.5444> and <c5,CAM_FRONT,0.5467,0.3571>.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? 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, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white sedan car, but it is not visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_BACK_RIGHT__1537297072878113.jpg"
    }
  },
  {
    "scene_token": "6b6a24b7ae6b40ee95d60918f7f4cb2e",
    "frame_token": "c042a09f7f3a4585b253e29552117b45",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, considering the visible red light and truck ahead.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "No such action will lead to a collision, as the object is not visible due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially visible due to framelost corruption. A truck is stationary in front of the ego vehicle at coordinates <c4,CAM_FRONT,0.2484,0.5444>. A red light is also visible in front at <c5,CAM_FRONT,0.5467,0.3571>. The rest of the scene is obscured, limiting visibility and requiring cautious driving.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-09-18-14-54-39-0400__CAM_FRONT__1537297072862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_LEFT__1537297072854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-09-18-14-54-39-0400__CAM_FRONT_RIGHT__1537297072870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-09-18-14-54-39-0400__CAM_BACK__1537297072887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-09-18-14-54-39-0400__CAM_BACK_LEFT__1537297072897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Dark. C. Bit error. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 0. D. 2",
    "answer": "A. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c3,CAM_FRONT,0.4755,0.5231> considering the frame loss? Please select the correct answer from the following options: A. Turn right. B. Turn left. C. Going ahead.",
    "answer": "A, Explanation: The object is a white sedan and is moving, turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2179,0.5042> a traffic sign or a road barrier considering the frame loss?",
    "answer": "No, Explanation: The object is a green construction vehicle, not a traffic sign or road barrier.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2179,0.5042> considering the frame loss? 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402045877893.jpg"
    }
  },
  {
    "scene_token": "798e8504b4364d378270333a349ef508",
    "frame_token": "2845ebeeef274d59862d9f5384368db9",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, 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": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The scene shows a road with construction barriers on the side. A green construction vehicle is stationary at the front of the ego vehicle, positioned at coordinates <c1,CAM_FRONT,0.2179,0.5042>. A silver van is also stationary at the front, located at <c2,CAM_FRONT,0.3786,0.5408>. A white sedan is moving and turning right, positioned at <c3,CAM_FRONT,0.4755,0.5231>. The environment is urban with trees lining the street and buildings visible in the background.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402045862460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402045854844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402045870339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402045887525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402045897423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Saturate. B. Sensor failure. C. Motion blur. D. Dark",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 5. C. 0. D. 2",
    "answer": "B. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss? 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>. However, due to frame loss, some objects might not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 back of the ego vehicle, but due to frame loss, its movement might not be consistently visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but frame loss might affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but frame loss might affect the decision-making process.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_BACK_RIGHT__1533582489678113.jpg"
    }
  },
  {
    "scene_token": "6207269cb9474c14b01f9610b2ee30aa",
    "frame_token": "c42eec2e6901462ca66b926d1154cc44",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Decelerate gradually without braking; brake gently to a stop. Frame loss might require more cautious actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment consists of a road with a white truck moving behind the ego vehicle and a white sedan stationary to the front left. A brown car is stationary to the back, and another white sedan is stationary to the back left. Due to frame loss, some of these objects might not be visible consistently, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-06-15-06-32-0400__CAM_FRONT__1533582489662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_LEFT__1533582489654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-06-15-06-32-0400__CAM_FRONT_RIGHT__1533582489670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-06-15-06-32-0400__CAM_BACK__1533582489687563.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-06-15-06-32-0400__CAM_BACK_LEFT__1533582489697408.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Rain. C. JPEG compression. D. H256 ABR compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 6. C. 4. D. 0",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black sedan moving to the back of the ego vehicle, and the framelost corruption does not affect this observation.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the back right of the ego vehicle, a white sedan to the front right of the ego vehicle, a black sedan to the front left of the ego vehicle, a black sedan to the back of the ego vehicle, a white and yellow commercial vehicle to the front right of the ego vehicle, and a white sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_BACK_RIGHT,0.3781,0.7686>, <c2,CAM_FRONT_RIGHT,0.2234,0.7194>, <c3,CAM_FRONT_LEFT,0.8271,0.7436>, <c5,CAM_BACK,0.4000,0.6102>, <c6,CAM_FRONT_RIGHT,0.4229,0.7398>, and <c4,CAM_FRONT_LEFT,0.5964,0.7444>. The framelost corruption does not affect the visibility of these objects.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a stationary black car, and the framelost corruption does not affect this observation.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845613277893.jpg"
    }
  },
  {
    "scene_token": "c2d5a5e7f7dc4e12b967fff22a0e1bf1",
    "frame_token": "7b9d2655d07f41a081fb2d133d93d625",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. The framelost corruption does not affect the decision-making process for these actions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering framelost corruption? 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. The framelost corruption does not affect this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is a city street with several stationary vehicles around the ego vehicle. To the back right, there is a stationary black car. In front of the ego vehicle, a white sedan and a black sedan are positioned to the right and left, respectively. A white and yellow commercial vehicle is also stationary to the front right. Another white sedan is located to the front left. The framelost corruption has resulted in some images being completely black, but the key objects remain identifiable in the visible frames.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845613262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845613254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845613270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845613287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845613297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. C. Sensor failure. D. Rain",
    "answer": "C. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 5. D. 1",
    "answer": "C. 5",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption? 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": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn left. B. Turn right. C. Going ahead.",
    "answer": "B, Explanation: The object is a black pants pedestrian moving to the right, but due to framelost corruption, the visibility might be compromised.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a pedestrian, not a traffic sign or road barrier, although framelost corruption may affect its visibility.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Why take this action and what's the probability?",
    "answer": "The action is to remain stationary. The reason for this action is that there is no safety issue. The probability of this action is high, even with framelost corruption affecting visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Accelerate and go straight can lead to a collision with <c1,CAM_FRONT,0.4245,0.6148>, especially under framelost corruption conditions.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is partially obscured due to framelost corruption, affecting the visibility of key objects. In the front, 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 at <c3,CAM_FRONT,0.2505,0.6842>. A second black pants pedestrian 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 located at the back at <c6,CAM_BACK,0.7978,0.7722>. The framelost corruption may cause intermittent visibility of these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-25-11-10-38+0800__CAM_FRONT__1537845625612460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_LEFT__1537845625604844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_FRONT_RIGHT__1537845625620339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-25-11-10-38+0800__CAM_BACK__1537845625637525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-25-11-10-38+0800__CAM_BACK_LEFT__1537845625647423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-25-11-10-38+0800__CAM_BACK_RIGHT__1537845625627893.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What is the current type of corruption?: A. Sensor failure. B. Motion blur. C. JPEG compression. D. Bright",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 0. C. 6. D. 1",
    "answer": "A. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost condition? 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, and its status remains unchanged despite the framelost condition.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene under framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a person wearing black clothes riding a red motorcycle to the front of the ego vehicle and a blue sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.3719,0.5908> and <c2,CAM_FRONT,0.7552,0.5981>. The red car at the back is not visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.3719,0.5908> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a person wearing black clothes riding a red motorcycle, not a traffic sign or road barrier, and its identification remains consistent despite framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost 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?",
    "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. The red car at the back is not visible due to framelost.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "In this scenario under framelost conditions, what are safe actions to take for the ego vehicle?",
    "answer": "Turn left and continue at the same speed.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_BACK_RIGHT__1532402020277902.jpg"
    }
  },
  {
    "scene_token": "eac3102e4cc24d4b95532bcc711a902f",
    "frame_token": "ee4ed5937b704e428d539892d66275f9",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.3719,0.5908> under framelost conditions?",
    "answer": "Accelerating and going straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with a stop sign and a building in the background. To the front of the ego vehicle, there is a person wearing black clothes riding a red motorcycle and a blue sedan turning right. Due to framelost, the rear view is not visible, and the red car at the back cannot be observed.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-07-24-11-13-19+0800__CAM_FRONT__1532402020262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_LEFT__1532402020254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-07-24-11-13-19+0800__CAM_FRONT_RIGHT__1532402020270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-07-24-11-13-19+0800__CAM_BACK__1532402020287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-07-24-11-13-19+0800__CAM_BACK_LEFT__1532402020297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Sensor failure. C. Rain. D. Saturate",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 3. C. 0. D. 2",
    "answer": "D. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.1906,0.6139> considering the framelost corruption? 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, but due to framelost corruption, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver sedan to the front of the ego vehicle, 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>. Note that some objects might not be visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly notice that 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. Note that some objects might not be visible due to framelost corruption.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a silver sedan, not a traffic sign or road barrier, but it might not be visible due to framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_BACK_RIGHT__1535659017628113.jpg"
    }
  },
  {
    "scene_token": "8c45a7a9142f4f848d463cc46843db71",
    "frame_token": "6bcbfd126c8b44f0bb5a04a7efdc3986",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Brake gently to a stop, slightly offset to the right. Note that visibility might be compromised due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Slight left turn. Note that visibility might be compromised due to framelost corruption.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with buildings and roads visible. A silver sedan is positioned at the front of the ego vehicle, and another silver sedan is at the front right. A blue sedan is stationary at the back. Due to framelost corruption, some objects might not be visible, affecting the perception of the scene.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-30-15-52-26-0400__CAM_FRONT__1535659017612404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_LEFT__1535659017604799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-30-15-52-26-0400__CAM_FRONT_RIGHT__1535659017620482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-30-15-52-26-0400__CAM_BACK__1535659017637558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-30-15-52-26-0400__CAM_BACK_LEFT__1535659017647405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Snow. B. Sensor failure. C. Dark. D. Zoom blur",
    "answer": "B. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 6. B. 0. C. 5. D. 3",
    "answer": "D. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption? 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 and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.0938,0.6481> and <c3,CAM_FRONT_LEFT,0.5833,0.7564>. The gray minivan and white motorhome are not visible due to sensor failure.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption? Please select the correct answer from the following options: A. Turn right. B. Going ahead. C. Turn left.",
    "answer": "A, Explanation: The object is not visible due to sensor failure.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a person riding a motorcycle.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the framelost corruption?",
    "answer": "Moderate left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573648678121.jpg"
    }
  },
  {
    "scene_token": "e209e66ff7834490b212c16cb12a1ce9",
    "frame_token": "187ecc6a2ce34e52ba02da567d21e23c",
    "question_type": "robust_qas",
    "question": "In this scenario with framelost corruption, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with several tall buildings and a bridge visible. A black SUV is stationary at the front left of the ego vehicle, and a person is riding a motorcycle in front of the ego vehicle. The gray minivan and white motorhome are not visible due to sensor failure. The scene is partially obscured, affecting the visibility of some objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573648662404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573648654799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573648670482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573648687558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573648697405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Bright. B. Zoom blur. C. H256 ABR compression. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 0. C. 5. D. 4",
    "answer": "D. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c1,CAM_FRONT,0.2432,0.4972> considering the framelost corruption? 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, and despite the framelost corruption, it is still turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the framelost corruption? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a white truck to the front of the ego vehicle 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> and <c4,CAM_FRONT_RIGHT,0.3901,0.6241>. Objects from the back are not visible due to framelost corruption.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the framelost corruption?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, and it remains visible despite the framelost corruption.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972> considering the framelost corruption?",
    "answer": "Accelerating and going straight can lead to a collision with <c1,CAM_FRONT,0.2432,0.4972>.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_BACK_RIGHT__1533115172427893.jpg"
    }
  },
  {
    "scene_token": "c0d3796765e2452d990309b2568adac5",
    "frame_token": "464a82c88b4a420a9639cca247918a7c",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the framelost corruption?",
    "answer": "Keep going at the same speed and turn right.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost corruption. Include both general description and key objects and their positions.",
    "answer": "The environment is urban with visible construction barriers and traffic cones. A white truck is moving ahead of the ego vehicle, visible at coordinates <c1,CAM_FRONT,0.2432,0.4972>. A person wearing yellow clothes is moving to the front right of the ego vehicle at coordinates <c4,CAM_FRONT_RIGHT,0.3901,0.6241>. Due to framelost corruption, objects behind the vehicle are not visible. The scene includes trees and buildings, indicating a city setting.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-08-01-17-13-57+0800__CAM_FRONT__1533115172412460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_LEFT__1533115172404844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-08-01-17-13-57+0800__CAM_FRONT_RIGHT__1533115172420339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-08-01-17-13-57+0800__CAM_BACK__1533115172437525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-08-01-17-13-57+0800__CAM_BACK_LEFT__1533115172447423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Fog. B. Zoom blur. C. JPEG compression. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 5. B. 1. C. 4. D. 6",
    "answer": "C. 4",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "Due to frame loss, the visibility of objects is compromised. However, 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": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, but due to frame loss, its movement might not be clearly visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.5125,0.5111> a traffic sign or a road barrier considering the frame loss?",
    "answer": "No, Explanation: The object is a white truck, not a traffic sign or road barrier, but frame loss might obscure its identification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_BACK_RIGHT__1542193513527893.jpg"
    }
  },
  {
    "scene_token": "e12dee10fe2545e4ab88459ed4268bc6",
    "frame_token": "f0efd0739e564fa69c2802faaba20a78",
    "question_type": "robust_qas",
    "question": "In this scenario with frame loss, what are safe actions to take for the ego vehicle?",
    "answer": "Keep going at the same speed, decelerate gradually without braking. Frame loss requires cautious actions to ensure safety.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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, even with frame loss affecting visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is dark with limited visibility due to frame loss. A white truck is positioned at the front of the ego vehicle (center x: 0.5125, center y: 0.5111). A pedestrian in black short sleeves is also at the front (center x: 0.6771, center y: 0.6297), and another pedestrian wearing a white shirt is to the front left (center x: 0.8594, center y: 0.6213). A stationary sedan is located at the back of the ego vehicle (center x: 0.7224, center y: 0.5380). The frame loss makes it challenging to accurately perceive these objects.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-11-14-18-57-54+0800__CAM_FRONT__1542193513512460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_LEFT__1542193513504844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-11-14-18-57-54+0800__CAM_FRONT_RIGHT__1542193513520339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-11-14-18-57-54+0800__CAM_BACK__1542193513537525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-11-14-18-57-54+0800__CAM_BACK_LEFT__1542193513547423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Zoom blur. C. Snow. D. H256 ABR compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 4. B. 2. C. 0. D. 1",
    "answer": "B. 2",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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 turning right, and the frame loss does not affect this observation.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_BACK_RIGHT__1538986179277893.jpg"
    }
  },
  {
    "scene_token": "748894952b00431186308b387c2f424c",
    "frame_token": "672c08701df6465bb5259c60717309fb",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering frame loss? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a black car to the front right of the ego vehicle, a gray sedan to the front of the ego vehicle, and a person riding a bike to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,0.5466,0.7209>, <c2,CAM_FRONT,0.4207,0.6254>, and <c4,CAM_FRONT_LEFT,0.1151,0.5426>. The orange car and the second bike are not visible due to frame loss.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black car, and frame loss does not affect this classification.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss? 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. Frame loss does not change this decision.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering frame loss?",
    "answer": "Slight right turn. Frame loss does not change this potential outcome.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment shows a road with various vehicles and cyclists. A black car is visible to the front right of the ego vehicle, moving in a rightward direction. A gray sedan is directly in front of the ego vehicle, moving forward. A person riding a bike is seen to the front left. Due to frame loss, some objects like the orange car and another cyclist are not visible. The scene is urban with buildings and greenery around.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-10-08-16-03-24+0800__CAM_FRONT__1538986179262460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_LEFT__1538986179254844.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-10-08-16-03-24+0800__CAM_FRONT_RIGHT__1538986179270339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-10-08-16-03-24+0800__CAM_BACK__1538986179287525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-10-08-16-03-24+0800__CAM_BACK_LEFT__1538986179297423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Zoom blur. B. Motion blur. C. JPEG compression. D. Sensor failure",
    "answer": "D. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 3. B. 6. C. 4. D. 2",
    "answer": "B. 6",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What is the moving status of object <c2,CAM_BACK,0.4636,0.6241> under framelost 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 moving and turning right, but due to framelost, it might not be visible.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering framelost conditions? Those objects will be considered for the future reasoning and driving decision.",
    "answer": "There is a silver truck to the front of the ego vehicle, a silver sedan to the back of the ego vehicle, and a pedestrian wearing a helmet to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,0.2594,0.5574>, <c2,CAM_BACK,0.4636,0.6241>, and <c3,CAM_FRONT_LEFT,0.3614,0.6314>. Note that some objects might not be visible due to framelost.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location under framelost conditions? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take?",
    "answer": "Firstly, notice that pedestrian wearing a helmet at left camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that silver truck at front camera. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that silver sedan at back camera. The object is turning right, so the ego vehicle should continue ahead at the same speed. Note that framelost might affect visibility.",
    "tag": [
      3
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "Is <c1,CAM_FRONT,0.2594,0.5574> a traffic sign or a road barrier under framelost conditions?",
    "answer": "No, Explanation: The object is a stationary silver truck, but it might not be visible due to framelost.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT,0.2594,0.5574> under framelost conditions?",
    "answer": "Slight left turn.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_BACK_RIGHT__1537932330927893.jpg"
    }
  },
  {
    "scene_token": "5a2aac9df32945d183fc81924ff148b6",
    "frame_token": "e21a3e9416d54b8ab488395510f4512d",
    "question_type": "robust_qas",
    "question": "What actions could the ego vehicle take based on <c1,CAM_FRONT,0.2594,0.5574> under framelost 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. Note that framelost might affect visibility.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 framelost conditions. Include both general description and key objects and their positions.",
    "answer": "The environment is challenging due to framelost conditions, which may obscure some objects. A stationary silver truck is positioned at the front of the ego vehicle (center x: 0.2594, center y: 0.5574). A silver sedan is moving and turning right at the back of the ego vehicle (center x: 0.4636, center y: 0.6241). A pedestrian wearing a helmet is stationary at the front left of the ego vehicle (center x: 0.3614, center y: 0.6314). Visibility of these objects may be compromised due to the framelost.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n015-2018-09-26-11-17-24+0800__CAM_FRONT__1537932330912460.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_LEFT__1537932330904846.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n015-2018-09-26-11-17-24+0800__CAM_FRONT_RIGHT__1537932330920339.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n015-2018-09-26-11-17-24+0800__CAM_BACK__1537932330937525.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n015-2018-09-26-11-17-24+0800__CAM_BACK_LEFT__1537932330947423.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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. Sensor failure. B. Saturate. C. Snow. D. H256 ABR compression",
    "answer": "A. Sensor failure",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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": "How many cameras don't have any images?: A. 0. B. 4. C. 3. D. 2",
    "answer": "C. 3",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss? 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, and despite the frame loss, it is still turning right.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "What are the important objects in the current scene considering the frame loss? 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, 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>, and <c6,CAM_FRONT,0.5366,0.3534>. Due to frame loss, some objects may not be visible.",
    "tag": [
      2
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 considering the frame loss?",
    "answer": "No, Explanation: The object is a black car, not a traffic sign or road barrier, even with frame loss.",
    "tag": [
      0
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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> considering the frame loss?",
    "answer": "Accelerate and go straight.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  },
  {
    "scene_token": "ef5f945852e84fcc88cab506746a6636",
    "frame_token": "cddb14d9c36243f3b05dcb330a3bbd3a",
    "question_type": "robust_qas",
    "question": "In this scenario, what are safe actions to take for the ego vehicle considering the frame loss?",
    "answer": "Brake suddenly, brake gently to a stop.",
    "tag": [
      1
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/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 frame loss. Include both general description and key objects and their positions.",
    "answer": "The environment is an urban setting with several buildings and construction cranes visible. Due to frame loss, only some objects are visible. A black car is moving in front of the ego vehicle, positioned 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>. A red light is also visible in front of the ego vehicle at <c6,CAM_FRONT,0.5366,0.3534>. Other objects may not be visible due to the frame loss.",
    "tag": [
      4
    ],
    "image_path": {
      "CAM_FRONT": "./FrameLost/CAM_FRONT/n008-2018-08-29-16-04-13-0400__CAM_FRONT__1535573823862404.jpg",
      "CAM_FRONT_LEFT": "./FrameLost/CAM_FRONT_LEFT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_LEFT__1535573823854799.jpg",
      "CAM_FRONT_RIGHT": "./FrameLost/CAM_FRONT_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_FRONT_RIGHT__1535573823870482.jpg",
      "CAM_BACK": "./FrameLost/CAM_BACK/n008-2018-08-29-16-04-13-0400__CAM_BACK__1535573823887558.jpg",
      "CAM_BACK_LEFT": "./FrameLost/CAM_BACK_LEFT/n008-2018-08-29-16-04-13-0400__CAM_BACK_LEFT__1535573823897405.jpg",
      "CAM_BACK_RIGHT": "./FrameLost/CAM_BACK_RIGHT/n008-2018-08-29-16-04-13-0400__CAM_BACK_RIGHT__1535573823878113.jpg"
    }
  }
]