diff --git "a/log_prompt_pairs_test.json" "b/log_prompt_pairs_test.json"
--- "a/log_prompt_pairs_test.json"
+++ "b/log_prompt_pairs_test.json"
@@ -1,1802 +1,1802 @@
 {
-    "d70dae33-b4b2-36da-a4eb-345ef1c484cc": [
-        "vehicle turning at intersection with nearby pedestrians",
-        "bicycle near traffic cone",
-        "pedestrian walking past right side of vehicle",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle within 5 meters of a bicycle",
-        "two cars back from the ego vehicle",
-        "passenger vehicle turning right",
-        "regular vehicle turning right",
-        "group of three people",
-        "oncoming vehicle changing lanes"
-    ],
-    "9320afa3-ed05-3364-a017-ae7ddc5d26c7": [
-        "object that hasn't moved",
-        "vehicle changing lanes",
-        "parked vehicle",
-        "vehicle within 5 meters of a bicycle",
-        "ego vehicle near construction cone",
-        "vehicle two vehicles ahead is changing lanes",
-        "pedestrian facing toward ego vehicle",
-        "vehicle maneuvering between construction barriers",
-        "vehicle surrounded by bicycles on all sides",
-        "ego vehicle changing lanes near construction zone"
-    ],
-    "f3887a09-2881-3de6-bdb9-55b62a0d15f5": [
-        "stopped car",
-        "ego vehicle near construction barrel",
-        "vehicle two cars ahead is braking",
-        "vehicle maneuvering between construction barriers",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle getting passed from the right",
-        "the vehicle two cars in front of the ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle at a stop sign",
-        "pedestrian walking between two stopped vehicles"
-    ],
-    "1ca5291b-3178-3a93-a117-001497899b79": [
-        "semi truck within 30 meters ahead of ego vehicle",
-        "vehicle being overtaken on the right",
-        "truck without trailer",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "large vehicle pulling out in front of ego  vehicle from side road",
-        "accelerating truck",
-        "vehicle hard braking with another vehicle ahead",
-        "objects getting closer to the ego vehicle",
-        "vehicle turning left while pedestrian crosses at crosswalk"
-    ],
-    "9ad6d7f8-0173-302a-a1ac-de99ef600dd2": [
-        "dog near pedestrian",
-        "vehicle changing lanes to the right",
-        "dog near an intersection",
-        "dog",
-        "vehicle being crossed by a pedestrian",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle turning right with pedestrian in front",
-        "ego vehicle near construction cone",
-        "pedestrian walking with dog on sidewalk",
-        "dog on roadway"
-    ],
-    "a9a3d5d7-e0c6-3f24-af35-2acadc1aa2d9": [
-        "vehicle crossing path of another vehicle",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle changing lanes while on an intersection",
-        "vehicle braking heavily",
-        "vehicle changing lanes to the right",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "any vehicle in front of stop sign",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "moving pedestrian within 3 meters to the left of ego vehicle"
-    ],
-    "2ee0eda7-151a-3957-bab5-1e5370192122": [
-        "pedestrians walking around a vehicle parked on a crosswalk",
-        "vehicle being overtaken on the left",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "vehicle braking heavily",
-        "vehicle turning right next to pedestrian with stroller",
-        "vehicle being overtaken on the right",
-        "passenger vehicle near stroller in road",
-        "stroller",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "bicycle sharing lane as a regular vehicle"
-    ],
-    "f7c4cf87-6bab-3723-bd74-1c9ac5add9cb": [
-        "pedestrian walking alongside stopped bus",
-        "bus in bus lane",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "car driving in bus lane",
-        "stroller",
-        "pedestrians using designated crossing",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian walking past right side of vehicle",
-        "pedestrian walking with stroller",
-        "vehicle hard braking with another vehicle ahead"
-    ],
-    "67be173f-28a9-3bcc-b110-4b81dfe3bf5e": [
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "turning left",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "ego vehicle at a busy pedestrian crossing",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "moving wheelchair within 5 meters of an intersection",
-        "pedestrian crossing at bollard",
-        "wheelchair user at pedestrian crossing",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "ego vehicle near bollard"
-    ],
-    "34c79495-dbdf-393d-bcc6-e6f92f797628": [
-        "person directing traffic in a school zone",
-        "pedestrian walking with dog on sidewalk",
-        "car under a cover",
-        "pedestrians over 30 meters away",
-        "vehicle stopped at a stop sign",
-        "vehicle two vehicles ahead is at a stop sign",
-        "vehicle at a stop sign",
-        "vehicle accelerating while changing lanes",
-        "pedestrian near construction cone",
-        "pedestrian walking alongside stopped bus"
-    ],
-    "b42dc943-8b33-3b79-a260-14eb9f58a991": [
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle near multiple bollards",
-        "vehicle hard braking with another vehicle ahead",
-        "stop sign behind a pedestrian",
-        "pedestrian near stop sign",
-        "vehicle changing lanes",
-        "vehicle facing toward parked vehicles",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle two vehicles ahead is braking",
-        "pedestrian between moving vehicles on both sides"
-    ],
-    "416f2e1c-0ffd-3089-97d2-0514b818f8d1": [
-        "motorcyclist braking hard",
-        "vehicle being passed on the left by another vehicle",
-        "bus with at least 3 pedestrians within 5 meters",
-        "people entering a vehicle on the road",
-        "vehicle parallel parking",
-        "vehicle near construction barrel",
-        "vehicle parked within traffic cone area",
-        "pedestrian between moving vehicles on both sides",
-        "making a left lane change while there is a vehicle to the right",
-        "bus changing lanes"
-    ],
-    "b7cbdba9-18ac-393a-8352-4841ffee722e": [
-        "vehicle near multiple bollards",
-        "vehicle facing away from the ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle facing the ego vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle at intersection facing another vehicle",
-        "vehicle moving at crawling speed",
-        "vehicle turning right with pedestrian in front",
-        "vehicle stopped at a stop sign"
-    ],
-    "2e95b33b-8ea1-3b48-875b-2f35f3092059": [
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle navigating near multiple bicycles",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle two vehicles ahead is braking",
-        "ego vehicle near bollard",
-        "vehicle making legal right turn during red light",
-        "bicycle facing toward a vehicle",
-        "vehicle two vehicles ahead is changing lanes",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle between two bicycles while on pedestrian crossing"
-    ],
-    "32835bfa-e53b-3526-9ec0-b0efcd11cbdf": [
-        "vehicle at intersection facing another vehicle",
-        "van pausing an unprotected left turn to let ego vehicle pass",
-        "bicycle following closely behind a vehicle",
-        "vehicle with a bicycle to its right",
-        "vehicle sharing a lane with another vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle getting passed from the right",
+    "11a84740-18a3-3798-91c5-21dc9c765350": [
+        "pedestrian walking alongside bollard",
         "vehicle two vehicles ahead is braking",
-        "ego vehicle with parked bicycles ahead"
-    ],
-    "fb207d3b-d2d5-3100-94c0-9145aebc770b": [
-        "truck on intersection",
-        "vehicle near construction barrel",
-        "pedestrian facing toward ego vehicle",
-        "turning left",
-        "vehicle stopped at construction barrel",
-        "school bus on intersection",
-        "vehicle with multiple pedestrians to the left",
-        "passenger vehicle turning right",
-        "vehicle passing school bus at stop",
-        "school bus at pedestrian crossing"
-    ],
-    "d70660da-4250-3ad1-a2d0-6a2d97b5379f": [
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "truck without trailer",
-        "vehicle two cars ahead is braking",
-        "vehicle near multiple bollards",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "ego vehicle following vehicle being overtaken on right",
-        "vehicle hard braking with another vehicle ahead",
-        "ego vehicle two cars ahead of another vehicle",
-        "pedestrian to the left of a truck",
-        "any vehicle in front of stop sign"
-    ],
-    "5ea3cd9c-15d0-3b80-9cc4-02c8b5ad523a": [
-        "bus with another bus in its lane",
-        "truck unloading in the middle of the road",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "bus with at least 3 pedestrians within 5 meters",
-        "pedestrians entering a bus",
-        "multiple buses within 50 meters ahead",
-        "bus with multiple pedestrians waiting on the right side",
-        "moving bus to the front-left of the ego vehicle",
-        "any vehicle in front of stop sign",
-        "vehicle crossing path of another vehicle"
-    ],
-    "be0615bc-1d82-334b-9c98-6adf40406955": [
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "pedestrian near bollard",
-        "multiple buses within 50 meters ahead",
-        "vehicle with multiple construction cones on the left side",
-        "bus making right turn",
-        "pedestrian facing toward the bus",
-        "ego vehicle near stroller on sidewalk",
-        "pedestrian walking with stroller",
-        "passenger vehicle near stroller in road",
-        "unattended stroller"
-    ],
-    "c42d34f3-78d5-35be-9c47-77d297caebfe": [
-        "bicycle traveling against traffic",
-        "vehicle passing near person in wheelchair",
+        "vehicle being overtaken on the right",
+        "bus changing lanes",
+        "van making a tight merge in front of the ego vehicle",
         "bicyclist on intersection",
-        "bicycle on intersection",
-        "bicyclist riding in vehicle lane",
-        "ego vehicle following vehicle being overtaken on right",
-        "car following closely behind bicyclist",
-        "bicycle traveling with vehicle traffic",
-        "bicycle being overtaken",
-        "pedestrian walking alongside stopped bus"
-    ],
-    "87621780-827a-3df5-8fa5-a94267d2d807": [
-        "parked vehicle",
-        "ego vehicle with vehicles on both sides",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "box truck near at least 3 construction cones",
-        "box truck with multiple construction cones to its right",
-        "object that hasn't moved",
-        "pedestrian facing toward the bus",
-        "cones blocking the entrance to a road",
-        "truck in the same lane as a bus",
-        "parked box trucks"
-    ],
-    "9282db22-c361-3456-a7b5-414959f5f25e": [
-        "unattended stroller",
-        "motorcycle between two vehicles",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle turning right with pedestrian waiting",
-        "stroller",
+        "vehicle being overtaken by the ego vehicle",
         "vehicle two vehicles ahead is changing lanes",
-        "box trucks within 10 meters of an intersection",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle turning right next to pedestrian with stroller",
-        "vehicle in close proximity to bicycle"
-    ],
-    "84c98474-28d8-309e-91c7-9cf9539825ab": [
-        "dog near an intersection",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "dog near pedestrian",
-        "person walking two dogs",
-        "group of three people",
-        "dog on roadway",
-        "pedestrian with multiple dogs",
-        "bicycle being overtaken",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist riding in vehicle lane"
-    ],
-    "2a930061-3d8c-3915-8aac-f81199db95d8": [
-        "vehicle flashing their hazard lights",
-        "vehicle changing lanes while on an intersection",
-        "vehicle being overtaken on the right",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian crossing ahead of ego vehicle",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle hard braking with another vehicle ahead",
-        "bus making right turn",
-        "bus within 5 meters to either side of ego vehicle"
-    ],
-    "1613c3d4-6350-37dc-9633-17125d9b6083": [
-        "stopped car",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle being crossed by a pedestrian",
-        "pedestrians over 30 meters away",
-        "pedestrian waving for ego vehicle to continue",
-        "construction workers working next to the road",
-        "regular vehicles that are stopped or nearly stopped",
-        "accelerating passenger vehicle",
-        "pedestrian approaching a parked vehicle",
-        "motorcycle between stopped vehicles"
-    ],
-    "5c0afbc0-a6ee-37c2-aebd-c1927caf7340": [
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "vehicle near construction barrel",
-        "vehicle maneuvering between construction barriers",
-        "vehicle making a right turn",
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle turning right near construction zone",
-        "pedestrian to the left of a truck",
-        "vehicle following another vehicle too closely",
-        "vehicle navigating near multiple bicycles",
-        "vehicle two vehicles ahead is turning"
-    ],
-    "4bf8e9ff-e1a1-3a22-a9d1-80f3846c0263": [
-        "vehicle facing toward parked vehicles",
-        "passenger vehicle swerving left",
-        "accelerating vehicle changing lanes to the right",
-        "vehicle moving at crawling speed",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle facing the ego vehicle",
-        "ego vehicle and vehicle across the intersection simultaneously turn onto the same side of the street",
-        "vehicle with a bicycle to its right",
-        "turning left",
-        "multiple pedestrians crossing ahead"
-    ],
-    "f849731b-d288-3bec-8f35-6bea979f7dd8": [
-        "pedestrians using designated crossing",
-        "pedestrian to the back-right of the ego vehicle",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle changing lanes to the right",
-        "the vehicle two cars in front of the ego vehicle",
-        "vehicle being overtaken on the right",
-        "vehicle at a stop sign",
-        "pedestrian turning and watching the ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "ego vehicle merging between two regular vehicles"
-    ],
-    "557dd6a4-2b80-3264-9c13-f70094526174": [
-        "bicyclist swerving around car parked in bike lane",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "unattended dog",
-        "bicycle facing toward moving traffic",
-        "vehicle with a bicycle to its right",
-        "bicycle passing by parked vehicle",
-        "construction item on road",
-        "pedestrian on road not facing traffic",
-        "dog running in the road",
-        "bicycle traveling alongside construction indicators"
-    ],
-    "b6c4361a-7dd8-32a0-83d4-7f9d2beaed08": [
-        "vehicle facing away from the ego vehicle",
-        "vehicle making a right turn",
-        "vehicle changing lanes",
-        "vehicle changing lanes to the right",
-        "accelerating passenger vehicle",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle accelerating more than two meters per second",
-        "motorcyclist braking hard",
-        "motorcycle near stop sign",
-        "group of three people"
-    ],
-    "14896a70-a440-34d0-b68e-fd9882557da6": [
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle being overtaken on the right",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle in adjacent lane switching lanes to pass another turning vehicle",
-        "vehicle accelerating on intersection",
-        "group of people",
-        "pedestrian on intersection not using a crosswalk",
-        "bus in bus lane",
-        "ego vehicle changing lanes to the left",
-        "ego vehicle merging between two regular vehicles"
+        "vehicle accelerating while changing lanes",
+        "vehicle changing lanes while on an intersection"
     ],
-    "0f0cdd79-bc6c-35cd-9d99-7ae2fc7e165c": [
-        "construction item on road",
+    "6a6e93f0-a130-3340-975b-b2c88b16d343": [
+        "bicycle in same lane as a vehicle",
+        "passenger vehicle turning right",
+        "vehicle with multiple construction cones on the left side",
+        "person walking their bike across the street",
+        "bicycle traveling alongside construction indicators",
+        "pedestrian using a cane",
+        "pedestrian near bollard",
         "vehicle maneuvering between construction barriers",
-        "motorcyclist",
-        "scooter lying down on the side of the road",
-        "bicycle traveling against traffic",
-        "vehicle turning right near construction zone",
-        "motorcyclist braking hard",
-        "moving bicycle directly to the left of the ego vehicle",
-        "ego vehicle with vehicles on both sides",
-        "vehicle two cars ahead is changing lanes"
+        "vehicle turning right with pedestrian waiting",
+        "cop car sitting on median"
     ],
-    "e35a6aae-3608-38a7-b6e9-b5d6108b921d": [
-        "the active vehicle in front of the vehicle ahead",
-        "accelerating passenger vehicle",
-        "vehicle two vehicles ahead is braking",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "pedestrian crossing between bollards",
-        "vehicle stopped at construction barrel",
-        "vehicle two vehicles ahead is turning",
-        "construction item on road",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    "bc20a6d3-2db2-3849-8843-1e1b8c93e5db": [
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "pedestrian near bollard",
+        "bus with at least 3 pedestrians within 5 meters",
+        "bus with multiple pedestrians waiting on the right side",
+        "group of pedestrians ahead of the ego vehicle",
+        "ego vehicle slowing down to let another vehicle turn onto road in front of them",
+        "passenger vehicle swerving left",
+        "vehicle going around another vehicle on an intersection to travel through",
+        "pedestrians over 30 meters away",
+        "vehicle being crossed by a pedestrian"
     ],
-    "f554d503-4901-3b97-9516-a16398c66631": [
+    "f2325996-961e-3f63-bbc0-44b7e76aeac9": [
         "regular vehicles that are stopped or nearly stopped",
-        "pedestrians using designated crossing",
-        "vehicle accelerating on intersection",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle getting passed from the right",
         "stopped car",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "ego vehicle merging between two regular vehicles"
-    ],
-    "84ed050c-635f-36ec-9c28-8a0c10f5cf11": [
-        "object that hasn't moved",
-        "ego vehicle with vehicles on both sides",
-        "school bus on intersection",
-        "vehicle being overtaken on the left",
-        "bicycle following closely behind a vehicle",
-        "car in front of the ego vehicle during a turn",
-        "ego vehicle near construction cone",
-        "vehicle in close proximity to bicycle",
-        "bicycle near school bus",
-        "vehicles approaching stopped school bus with children nearby"
-    ],
-    "613558a1-6a8e-3fda-8fa6-1045a064a0f9": [
-        "vehicle to the back right of the ego vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "object that hasn't moved",
-        "parked vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle getting passed from the right",
-        "police car stopped on the side of the road",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "unattended dog",
-        "pedestrians facing each other at close range, possibly conversing"
+        "bus with at least 3 pedestrians within 5 meters",
+        "ego vehicle approaching stopped delivery truck",
+        "pedestrians facing each other at close range, possibly conversing",
+        "bus in front of ego vehicle obstructing view of red traffic light",
+        "bicycle near traffic cone",
+        "ego vehicle with parked bicycles ahead",
+        "bus within 5 meters to either side of ego vehicle",
+        "bus pulled into bus stop diagonally"
     ],
-    "2ddc4ec4-99ea-35a4-9f5a-e036df1c0b25": [
-        "turning left",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "vehicle being crossed by a pedestrian",
-        "truck without trailer",
-        "tow truck",
-        "vehicle on opposite side of road turning into same lane as ego vehicle",
-        "two cars back from the ego vehicle",
-        "truck on intersection",
-        "bicycle on intersection",
-        "ego vehicle approaching stopped delivery truck"
+    "4e6d6bcd-8718-3e71-b9c1-7c352c991a56": [
+        "oncoming vehicle changing lanes",
+        "ego vehicle turning right through a green light without having to stop",
+        "car making left turn that causes the ego vehicle to slow down",
+        "ego vehicle driving during rain",
+        "pedestrian approaching a parked vehicle",
+        "accelerating passenger vehicle",
+        "vehicle making left turn through ego vehicle's path while it is raining",
+        "pedestrian walking alongside stopped bus",
+        "car driving in bus lane",
+        "ego vehicle following vehicle that is being overtaken on the right"
     ],
-    "7b7f86ca-b430-3872-a131-ff5b4a6b5dcf": [
-        "bicycle facing toward a vehicle",
-        "vehicle in close proximity to bicycle",
+    "0fdbd56a-1ff7-3624-81f9-03cd68fd5616": [
+        "stop sign behind a pedestrian",
         "vehicle turning right at stop sign",
-        "bicyclist riding in vehicle lane",
-        "bicycle following closely behind a vehicle",
-        "vehicle braking heavily",
-        "ego vehicle reacting to a changing traffic light",
-        "motorcycle between two vehicles",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "vehicle turning near group of cyclists"
+        "ego vehicle near construction barrel",
+        "bicycle crossing vehicle path at intersection",
+        "moving bicycle directly to the left of the ego vehicle",
+        "ego vehicle approaching stopped truck",
+        "moving excavator on the road",
+        "bicycle traveling alongside construction indicators",
+        "vehicle turning left with a bicycle in front of it",
+        "bicycle crossing in front of ego vehicle in construction zone"
     ],
-    "e95e20d1-7f04-34b9-9105-4333f11bf6b9": [
-        "oncoming vehicle changing lanes",
-        "left lane change while there is a vehicle to the left",
-        "pedestrian near construction cone",
+    "5546df9c-9310-3ed5-929a-d7da19e18bf8": [
+        "motorcycle between two vehicles",
+        "car driving in bus lane",
+        "motorcyclist braking hard",
+        "vehicle in front of ego vehicle making right turn",
+        "pedestrian walking between construction barriers with approaching vehicle",
         "ego vehicle with parked bicycles ahead",
-        "ego vehicle two cars ahead of another vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "bicycle passing by parked vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcycle changing lanes to the left near multiple vehicles",
-        "bicyclist changing lanes to the right"
+        "ego vehicle navigating intersection with a broken traffic light",
+        "car turning right",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "group of people"
     ],
-    "2d403b7b-06e8-320c-b013-4f684ad53be2": [
-        "vehicle at a stop sign",
-        "vehicle sharing a lane with another vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "cop car sitting on median",
-        "vehicle stopped at a stop sign",
-        "cop cars in front of the ego vehicle",
-        "motorcyclist",
-        "vehicle with multiple pedestrians to the left",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "bicycle traveling against traffic"
+    "1ad57a00-cc61-3f5f-9e2a-9981a57e9856": [
+        "vehicle stopped at construction barrel",
+        "ego vehicle near construction barrel",
+        "vehicle squeezing between ego vehicle and construction barriers",
+        "vehicle making modified left turn through construction zone",
+        "moving bus to the front-left of the ego vehicle",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "ego vehicle driving while it is cloudy",
+        "construction item on road",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle approaching pedestrian at crosswalk"
     ],
-    "c3388791-4fef-3278-a085-26121cf5f513": [
-        "vehicle two vehicles ahead is turning",
-        "vehicle navigating near multiple bicycles",
-        "any vehicle in front of stop sign",
-        "ego vehicle following vehicle being overtaken on right",
-        "ego vehicle with parked bicycles ahead",
-        "active vehicle at stop sign",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle within 5 meters of a bicycle",
-        "moving wheelchair within 5 meters of an intersection",
-        "pedestrian with wheelchair at crosswalk"
+    "b0116f1c-f88f-3c09-b4bf-fc3c8ebeda56": [
+        "ego vehicle merging between two vehicles using a slip lane",
+        "pedestrian near bollard",
+        "oncoming vehicle changing lanes",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle sporting an advertisement that causes the facial blurring algorithm to flicker",
+        "pedestrian walking alongside bollard",
+        "vehicle changing lanes through bike lane",
+        "vehicle facing and accelerating toward pedestrian on road"
     ],
-    "6784f175-e69d-3802-99df-d21ec2081878": [
-        "vehicle making a right turn",
-        "stop sign behind a pedestrian",
-        "vehicle to the back right of the ego vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle moving at crawling speed",
-        "pedestrian near stop sign",
-        "vehicle trying to merge into the same space as the ego vehicle",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle being crossed by a pedestrian"
+    "b248d26b-9c48-3d5f-bda1-a05ec99c2d97": [
+        "parked box trucks",
+        "official signaler at an intersection with the ego vehicle",
+        "group of three people",
+        "vehicle crossing path of another vehicle",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "bicycle facing toward a vehicle",
+        "bus going through an intersection",
+        "vehicle being crossed by a pedestrian",
+        "vehicle being overtaken on the right",
+        "stroller"
     ],
-    "6626b7b2-bcc8-4497-ae92-307ceacd5010": [
-        "moving wheelchair within 5 meters of an intersection",
-        "person pushing a wheelchair across the road",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle to the back right of the ego vehicle",
-        "pedestrian with wheelchair at crosswalk",
-        "ego vehicle near bollard",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "wheelchair user at pedestrian crossing",
-        "vehicle accelerating on intersection",
-        "vehicle braking near pedestrian crossing"
+    "a4400a38-bc38-391c-b102-ba385d7e475e": [
+        "pedestrians over 30 meters away",
+        "regular vehicles that are stopped or nearly stopped",
+        "stopped car",
+        "vehicle making a three-point turn",
+        "vehicle maneuvering between construction barriers",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "stopped delivery trucks",
+        "vehicle inside intersection waiting to turn",
+        "pedestrian to the left of a truck",
+        "vehicle near multiple bollards"
     ],
-    "af8471e6-6780-3df2-bc6a-1982a4b1b437": [
-        "vehicle facing away from the ego vehicle",
-        "vehicle changing lanes",
-        "vehicle crossing path of another vehicle",
-        "vehicle facing the ego vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle near multiple bollards",
+    "a1358c59-b28d-3ddb-af1c-3a5d1c394ef5": [
+        "ego vehicle braking to avoid a vehicle that is partially in their lane",
+        "ego vehicle approaching cyclist in same lane",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "bicyclist weaving through pedestrians",
         "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle near construction barrel",
-        "ego vehicle near construction barrel"
+        "vehicle getting over to make room for a cyclist in a bike lane",
+        "bicycle following closely behind a vehicle",
+        "pedestrians over 30 meters away",
+        "bicyclist riding in vehicle lane"
     ],
     "418da7f6-88e4-388b-a69f-44cabd24ed55": [
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "vehicle turning right with pedestrian waiting",
-        "ego vehicle changing lanes to the left",
-        "vehicle facing toward parked vehicles",
+        "jaywalking pedestrian",
+        "bus within 5 meters to either side of ego vehicle",
+        "vehicle making modified left turn through construction zone",
+        "left lane change while there is a vehicle to the left",
+        "pedestrian facing toward the bus",
         "vehicle changing lanes to the right",
-        "pedestrian walking alongside bollard",
-        "car turning right"
+        "making a left lane change while there is a vehicle to the right",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle making left turn across ego vehicle into a parking lot",
+        "parked box trucks"
     ],
     "7c4e5ad1-d604-3e44-81ae-68f7bfe21d27": [
-        "vehicle making a right turn",
-        "car turning right",
-        "vehicle turning at intersection with nearby pedestrians",
-        "any vehicle in front of stop sign",
-        "vehicle within 5 meters of a bicycle",
-        "bicycle facing toward a vehicle",
-        "vehicle navigating dense pedestrian traffic",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "wheeled rider crossing between moving vehicles",
-        "vehicle being overtaken on the right"
-    ],
-    "1ad57a00-cc61-3f5f-9e2a-9981a57e9856": [
-        "vehicle stopped at a stop sign",
-        "vehicle stopped at construction barrel",
-        "turning right",
-        "stationary construction barrel",
-        "vehicle at a stop sign",
-        "two cars back from the ego vehicle",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle changing lanes while in bike lane",
-        "vehicle changing lanes while on an intersection",
-        "vehicle being overtaken on the left"
-    ],
-    "a1358c59-b28d-3ddb-af1c-3a5d1c394ef5": [
-        "bicyclist on intersection",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle following closely behind a vehicle",
-        "vehicle with multiple bicycles ahead",
-        "bicycle traveling with vehicle traffic",
-        "bicyclist riding in vehicle lane",
-        "bicyclist within 3 meters on either side",
-        "truck being passed by ego vehicle while nearby pedestrians cross between construction barriers",
-        "box trucks within 10 meters of an intersection",
-        "ego vehicle approaching bicycle merging from bike lane"
+        "ego vehicle in a 25 miles per hour zone",
+        "bicycle sharing lane as a regular vehicle",
+        "bicyclist weaving through pedestrians",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "pedestrian walking with stroller",
+        "pedestrian to the left of a truck",
+        "pedestrian with wheelchair at crosswalk",
+        "people cleaning leaves off the road in front of the ego vehicle",
+        "vehicle surrounded by bicycles on all sides",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle"
     ],
-    "b0116f1c-f88f-3c09-b4bf-fc3c8ebeda56": [
-        "pedestrian near bollard",
-        "vehicle changing lanes while on an intersection",
-        "bus within 5 meters to either side of ego vehicle",
+    "d029a394-7118-33c9-896d-eabb894f58c4": [
+        "ego vehicle driving during rain",
+        "ego vehicle waiting to make a safe unprotected left turn",
+        "construction item on road",
+        "accelerating passenger vehicle",
+        "city bus",
         "vehicle changing lanes while in bike lane",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle changing lanes through bike lane",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "pedestrian crossing between stopped buses",
-        "pedestrian approaching a parked vehicle",
-        "vehicle accelerating towards pedestrian crossing"
+        "ego vehicle near articulated bus",
+        "vehicle near multiple bollards",
+        "small child walking with their parent",
+        "bus changing lanes"
     ],
-    "a4400a38-bc38-391c-b102-ba385d7e475e": [
-        "pedestrians over 30 meters away",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "stationary object",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle being crossed by a pedestrian",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "pedestrian crossing at bollard",
-        "regular vehicle turning right",
-        "vehicles being passed by a motorcycle on either side",
-        "motorcyclist"
+    "f6107596-76e0-3064-a4a6-86332a90e539": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "van facing the wrong way in the middle turn lane",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "vehicle getting passed from the right",
+        "vehicle two cars ahead is braking",
+        "motorcyclist braking hard",
+        "vehicle at intersection facing another vehicle",
+        "two cars back from the ego vehicle",
+        "vehicle cutting across ego vehicle to get to the turn lane",
+        "the active vehicle in front of the vehicle ahead"
     ],
-    "b248d26b-9c48-3d5f-bda1-a05ec99c2d97": [
-        "pedestrian walking with stroller",
+    "4d73c4eb-5de9-300c-b34f-ff5d0af89653": [
+        "ego vehicle changing lanes to the left",
+        "person walking their bike",
         "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
-        "parked box trucks",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "ego vehicle near articulated bus",
-        "ego vehicle approaching stopped delivery truck",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "group of three people",
-        "articulated bus in the same lane as a wheeled device",
-        "stroller in the same lane as a regular vehicle"
+        "pedestrian turning and watching the ego vehicle",
+        "sitting person",
+        "bus with at least 3 pedestrians within 5 meters",
+        "pedestrian walking with dog on sidewalk",
+        "motorcyclist braking hard",
+        "vehicle stopped at official signaler",
+        "vehicle with animal in front"
     ],
-    "0fdbd56a-1ff7-3624-81f9-03cd68fd5616": [
-        "accelerating vehicle changing lanes to the right",
-        "bicycle traveling alongside construction indicators",
-        "bicycle crossing in front of ego vehicle in construction zone",
-        "ego vehicle approaching stopped truck",
-        "vehicle turning left with a bicycle in front of it",
-        "bicycle crossing vehicle path at intersection",
+    "1bd7db3a-0b42-31cf-ac1a-de88fd9fa721": [
+        "bicycle traveling with vehicle traffic",
+        "motorcycle between two vehicles",
+        "car following closely behind bicyclist",
+        "vehicle turning right near construction zone",
+        "bicyclist riding on the opposite sidewalk",
+        "vehicle inside intersection waiting to turn",
+        "bicycle traveling alongside parked vehicles",
+        "pedestrian approaching a parked vehicle",
+        "bicyclist riding in vehicle lane",
+        "vehicle with multiple bicycles ahead"
+    ],
+    "91ac892f-d2c1-3143-b5c5-f0d4640cfc0d": [
+        "bicyclist within 3 meters on either side",
+        "bicycle traveling with vehicle traffic",
+        "box truck braking in front of ego vehicle",
+        "bicyclist traveling wrong way down one-way road",
+        "ego vehicle traveling down the middle of a three-lane one-way street",
+        "car driving in bus lane",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle turning on to same road as the ego vehicle",
         "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle turning right at stop sign",
-        "vehicle maneuvering between construction barriers",
-        "semi truck within 30 meters ahead of ego vehicle"
+        "ego vehicle approaching cyclist in same lane"
     ],
-    "5546df9c-9310-3ed5-929a-d7da19e18bf8": [
-        "ego vehicle navigating intersection with a broken traffic light",
-        "vehicle accelerating on intersection",
-        "oncoming vehicle changing lanes",
-        "motorcycle between stopped vehicles",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle with a bicycle to its right",
+    "c19d4b20-814d-3b2e-94e5-5d3003631496": [
+        "vehicle following another vehicle too closely",
+        "ego vehicle with vehicles on both sides",
+        "bicycle in vehicle lane with vehicle",
+        "pedestrian to the back-right of the ego vehicle",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "active vehicle at stop sign",
+        "non-robot taxi",
+        "vehicle with multiple pedestrians to the left",
+        "group of people",
+        "vehicles uphill from the ego vehicle"
+    ],
+    "fee0f78c-cf00-35c5-975b-72724f53fd64": [
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "person walking around car parked on pedestrian crossing",
         "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "motorcyclist braking hard",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "truck on intersection"
+        "vehicle following another vehicle too closely",
+        "vehicle flashing their hazard lights",
+        "vehicle turning left",
+        "vehicle braking near pedestrian crossing",
+        "group of people",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "6a6e93f0-a130-3340-975b-b2c88b16d343": [
-        "bicycle traveling with vehicle traffic",
-        "bicycle near traffic cone",
+    "0c6e62d7-bdfa-3061-8d3d-03b13aa21f68": [
+        "motorcycle overtaking a vehicle",
+        "bicycle on intersection",
+        "car in front of ego-vehicle being cut off",
+        "ego vehicle driving while it is cloudy",
+        "bus with another bus in its lane",
+        "motorcycle approaching ego vehicle",
+        "motorcycle between two vehicles",
+        "vehicle two cars ahead is braking",
         "bicycle in vehicle lane with vehicle",
-        "bicycle sharing lane as a regular vehicle",
-        "stop sign behind a pedestrian",
-        "person walking their bike across the street",
-        "motorcycle near construction cone",
-        "vehicle with multiple construction cones on the left side",
-        "vehicle facing and heading toward pedestrian group",
-        "lane splitting motorcycle"
+        "bicyclist on intersection"
     ],
-    "bc20a6d3-2db2-3849-8843-1e1b8c93e5db": [
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle near multiple bollards",
+    "9a82e3c8-1738-3f85-9245-1d3717171d2f": [
         "pedestrian crossing between bollards",
-        "regular vehicle turning right",
-        "pedestrian near bollard",
-        "stationary object",
-        "bus with multiple pedestrians waiting on the right side",
-        "car turning right",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "bus in the same lane as a truck"
+        "ego vehicle traveling down road with significant cracks or damage",
+        "tow truck",
+        "truck sharing a lane with another truck",
+        "ego vehicle driving at dusk or dawn",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "van pausing an unprotected left turn to let ego vehicle pass",
+        "vehicle being overtaken while approaching another vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "the vehicle two cars in front of the ego vehicle"
     ],
-    "f2325996-961e-3f63-bbc0-44b7e76aeac9": [
-        "pedestrian walking alongside stopped bus",
-        "pedestrian on intersection not using a crosswalk",
+    "5677a441-abd2-3b29-9f0b-333e181cc907": [
+        "traffic officer in roadway",
+        "pedestrian walking alongside bollard",
+        "a group of people",
+        "double decker bus on the opposite side of the road",
+        "the car following the ego vehicle getting closer",
+        "vehicle two cars ahead is changing lanes",
+        "stop sign behind a pedestrian",
+        "pedestrians facing each other at close range, possibly conversing",
+        "construction item on road",
+        "truck on intersection"
+    ],
+    "44e49f1b-17e1-3da6-9b8b-97e754d58f7a": [
+        "the car following the ego vehicle getting closer",
+        "ego vehicle driving during daylight",
+        "car following closely behind bicyclist",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "truck in the same lane as a bus",
+        "city bus",
+        "ego vehicle driving on a clear day",
         "pedestrians using designated crossing",
-        "group of people",
-        "jaywalking pedestrian",
-        "two cars back from the ego vehicle",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian to the back-right of the ego vehicle",
-        "objects getting closer to the ego vehicle",
-        "vehicle turning right with pedestrian waiting"
+        "pedestrians over 30 meters away",
+        "person standing in the back of a truck"
     ],
-    "11a84740-18a3-3798-91c5-21dc9c765350": [
-        "moving bus to the front-left of the ego vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle being overtaken on the right",
-        "van making a tight merge in front of the ego vehicle",
-        "vehicle getting passed from the right",
-        "vehicle accelerating while changing lanes",
-        "ego vehicle passing parked bus",
-        "active vehicle at stop sign",
-        "pedestrian near bollard"
+    "97ae6596-a903-3045-836b-34f8206c6cfe": [
+        "person stepping out of car onto road in front of ego vehicle",
+        "dog on roadway",
+        "person crossing directly in front of the ego vehicle",
+        "pedestrian to the back-right of the ego vehicle",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian walking with dog on sidewalk",
+        "jaywalking pedestrian causing ego vehicle to stop",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "dog near an intersection",
+        "parked box trucks"
     ],
-    "4e6d6bcd-8718-3e71-b9c1-7c352c991a56": [
-        "vehicle stopped at construction barrel",
-        "ego vehicle following vehicle being overtaken on right",
-        "a group of people",
-        "passenger vehicle swerving left",
-        "vehicle near construction barrel",
-        "vehicle turning right with pedestrian waiting",
-        "car making left turn that causes the ego vehicle to slow down",
-        "vehicle turning right at stop sign",
-        "pedestrian on intersection not using a crosswalk",
-        "pedestrian crossing in front of vehicle at crosswalk"
+    "d8192bbb-3b00-3c68-a79a-65872ea4276f": [
+        "pedestrian near construction cone",
+        "vehicle with multiple construction cones on the left side",
+        "pedestrian facing toward the bus",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "extended construction lift",
+        "vehicle accelerating on intersection",
+        "construction worker behind a fence",
+        "red cars",
+        "truck without trailer"
     ],
     "6b6b2e8b-3f4d-3b7d-acaa-8f970cb12adb": [
-        "pedestrian to the back-right of the ego vehicle",
-        "car turning right",
-        "passenger vehicle swerving left",
-        "construction item on road",
-        "stationary construction barrel",
+        "vehicle in lane ahead significantly offset from the ego vehicle",
+        "passenger vehicle turning right",
+        "vehicle braking at pedestrian crossing",
+        "vehicle turning left while bicycle crosses from right",
         "the third car forward from the ego vehicle",
-        "ego vehicle near construction cone",
-        "motorcycle at stop sign",
-        "ego vehicle near mobile pedestrian sign",
-        "bus with at least 3 pedestrians within 5 meters"
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing",
+        "pedestrian facing toward ego vehicle",
+        "truck leaving work site",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "regular vehicle turning right"
     ],
     "4612f4a4-59b0-37d4-b3d1-400a1324920c": [
-        "bus with at least 3 pedestrians within 5 meters",
-        "vehicle two cars ahead is braking",
+        "truck with a person in the bed",
+        "dog near pedestrian",
         "two of the same work truck",
-        "bus with multiple pedestrians waiting on the right side",
-        "bus changing lanes",
-        "bus with another bus in its lane",
+        "pedestrian walking with stroller",
+        "stopped vehicles at intersection being crossed by pedestrians",
         "multiple buses within 50 meters ahead",
-        "truck changing lanes to the right",
-        "ego vehicle approaching stopped truck",
-        "moving bus being crossed by a bicycle"
+        "vehicle two cars ahead is braking",
+        "vehicle changing lanes while in bike lane",
+        "vehicle two vehicles ahead is at a stop sign",
+        "bus with another bus in its lane"
     ],
     "b2d9d8a5-847b-3c3b-aed1-c414319d20af": [
-        "stop sign behind a pedestrian",
-        "ego vehicle with box truck ahead and motorcycle behind",
-        "box truck in bike lane",
+        "vehicle on opposite side of road turning into same lane as ego vehicle",
         "moving bicycle directly to the left of the ego vehicle",
+        "truck without trailer",
+        "vehicle at a stop sign",
         "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "parked box trucks",
-        "motorcycle between two vehicles",
-        "pedestrian near stop sign",
-        "box truck with multiple construction cones to its right",
-        "bicycle passing between bus and construction barrier"
+        "box truck in bike lane",
+        "vehicle braking near pedestrian crossing",
+        "bicycle passing by parked vehicle",
+        "vehicle making a turn into ego-vehicle's lane while ego vehicle is occluded",
+        "ego vehicle with box truck ahead and motorcycle behind"
     ],
-    "5677a441-abd2-3b29-9f0b-333e181cc907": [
-        "pedestrian between moving vehicles on both sides",
-        "vehicle two cars ahead is changing lanes",
-        "the car following the ego vehicle getting closer",
-        "jaywalking pedestrian",
-        "passenger vehicle turning left at intersection",
-        "truck on intersection",
+    "84ed050c-635f-36ec-9c28-8a0c10f5cf11": [
+        "group of three people",
+        "car in front of the ego vehicle during a turn",
+        "person directing traffic in a school zone",
+        "school bus on intersection",
+        "box truck near at least 3 construction cones",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle braking at pedestrian crossing",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "school bus at pedestrian crossing",
+        "vehicle braking near pedestrian crossing"
+    ],
+    "f554d503-4901-3b97-9516-a16398c66631": [
+        "vehicle being followed by ego vehicle while being overtaken on right",
         "vehicle getting passed from the right",
-        "box truck in bike lane",
-        "box truck at stop sign",
-        "box truck changing lanes to the right"
+        "vehicle accelerating on intersection",
+        "ego vehicle traveling down road with significant cracks or damage",
+        "vehicle turning right with pedestrian in front",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle turning right with pedestrian waiting",
+        "vehicles uphill from the ego vehicle",
+        "vehicle being crossed by a pedestrian",
+        "vehicle facing toward parked vehicles"
     ],
-    "9a82e3c8-1738-3f85-9245-1d3717171d2f": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "turning left",
-        "pedestrian facing toward ego vehicle",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "the active vehicle in front of the vehicle ahead",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle being passed on the left by another vehicle",
-        "vehicle at intersection facing another vehicle",
-        "car turning right",
-        "vehicle being overtaken on the right"
+    "613558a1-6a8e-3fda-8fa6-1045a064a0f9": [
+        "police car stopped on the side of the road",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle making a left turn from road with large median",
+        "vehicle being overtaken on the right",
+        "objects getting closer to the ego vehicle",
+        "vehicle braking at pedestrian crossing",
+        "ego vehicle near bollard",
+        "city bus",
+        "vehicle following another vehicle too closely",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing"
     ],
-    "97ae6596-a903-3045-836b-34f8206c6cfe": [
-        "dog",
-        "dog on roadway",
-        "vehicle being overtaken while approaching another vehicle",
-        "turning left",
-        "ego vehicle approaching crossing pedestrians",
-        "dog near pedestrian",
-        "dog near an intersection",
-        "pedestrian walking with dog on sidewalk",
-        "dog crossing in front of vehicle",
-        "vehicle within 5 meters of a bicycle"
+    "e35a6aae-3608-38a7-b6e9-b5d6108b921d": [
+        "vehicle backing off the road into a parking spot",
+        "ego vehicle starting to switch lanes but then going back",
+        "vehicle being tailgated while approaching stopped traffic",
+        "accelerating passenger vehicle",
+        "vehicle near multiple bollards",
+        "vehicle two vehicles ahead is braking",
+        "ego vehicle driving during daylight",
+        "vehicle turning left",
+        "vehicle two vehicles ahead is turning",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing"
     ],
-    "d8192bbb-3b00-3c68-a79a-65872ea4276f": [
-        "moving bus to the front-left of the ego vehicle",
+    "2ddc4ec4-99ea-35a4-9f5a-e036df1c0b25": [
+        "group of people",
+        "vehicle facing toward parked vehicles",
+        "vehicle accelerating towards pedestrian crossing",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "ego vehicle driving on a clear day",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "box truck at stop sign",
+        "vehicle on opposite side of road turning into same lane as ego vehicle",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "tow truck"
+    ],
+    "0f0cdd79-bc6c-35cd-9d99-7ae2fc7e165c": [
+        "bicyclist on intersection",
+        "bicycle traveling alongside parked vehicles",
+        "scooter lying down on the side of the road",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "bus with multiple pedestrians waiting on the right side",
+        "motorcyclist",
+        "vehicle with caution markings on the back",
+        "bicyclist riding in vehicle lane",
         "vehicle turning at intersection with nearby pedestrians",
-        "pedestrians facing each other at close range, possibly conversing",
-        "regular vehicle turning right",
-        "ego vehicle near bollard",
-        "ego vehicle two cars ahead of another vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "vehicle with multiple construction cones on the left side",
+        "bicycle traveling against traffic"
+    ],
+    "b6c4361a-7dd8-32a0-83d4-7f9d2beaed08": [
+        "jaywalking pedestrian",
+        "vehicle making a right turn",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle near multiple bollards",
         "vehicle facing and heading toward pedestrian group",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+        "vehicle trying to merge into the same space as the ego vehicle",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle proceeding through intersection after light changes from red to green",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle being tailgated while approaching stopped traffic"
     ],
-    "c19d4b20-814d-3b2e-94e5-5d3003631496": [
-        "motorcycle or pedestrian within 5 meters to the right",
-        "active vehicle at stop sign",
-        "any vehicle in front of stop sign",
-        "ego vehicle with parked bicycles ahead",
-        "vehicle with a bicycle to its right",
-        "vehicle turning at intersection with nearby pedestrians",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "motorcycle between two vehicles",
-        "ego vehicle changing lanes to the left",
-        "vehicle changing lanes through bike lane"
+    "14896a70-a440-34d0-b68e-fd9882557da6": [
+        "vehicle in adjacent lane switching lanes to pass a turning vehicle",
+        "city bus",
+        "ego vehicle near bollard",
+        "truck towing trailer in front of the ego vehicle",
+        "box trucks within 10 meters of an intersection",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "two cars back from the ego vehicle",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "bicycle near traffic cone"
     ],
-    "fee0f78c-cf00-35c5-975b-72724f53fd64": [
-        "turning left",
-        "a group of people",
-        "vehicle with multiple pedestrians to the left",
-        "pedestrians over 30 meters away",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian on intersection not using a crosswalk",
-        "regular vehicles that are stopped or nearly stopped",
-        "pedestrian walking past right side of vehicle",
-        "vehicle following another vehicle too closely",
-        "group of three people"
+    "af8471e6-6780-3df2-bc6a-1982a4b1b437": [
+        "vehicle changing lanes",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle making a right turn",
+        "vehicle in front of ego vehicle braking to let someone pull onto the road",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle crossing path of another vehicle",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "ego vehicle switching lanes around a stopped delivery vehicle",
+        "vehicle changing lanes to the right"
     ],
-    "0c6e62d7-bdfa-3061-8d3d-03b13aa21f68": [
-        "vehicle braking heavily",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle two cars ahead is braking",
-        "car in front of ego-vehicle being cut off",
-        "approaching motorcycle",
+    "6626b7b2-bcc8-4497-ae92-307ceacd5010": [
+        "ego vehicle driving ahead of active streetcar",
         "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "motorcycle overtaking a vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "oncoming vehicle changing lanes",
-        "bicycle near traffic cone"
+        "vehicle passing truck with pedestrian crossing ahead",
+        "pedestrian facing toward the bus",
+        "ego vehicle near bollard",
+        "pedestrian with wheelchair at crosswalk",
+        "person pushing a wheelchair across the road",
+        "wheelchair user at pedestrian crossing",
+        "pedestrians using designated crossing",
+        "pedestrians, strollers, or wheeled devices at a pedestrian crossing"
     ],
-    "d029a394-7118-33c9-896d-eabb894f58c4": [
-        "bus changing lanes",
+    "2d403b7b-06e8-320c-b013-4f684ad53be2": [
+        "box truck at stop sign",
         "left lane change while there is a vehicle to the left",
-        "city bus",
-        "jaywalking pedestrian",
-        "passenger vehicle turning right",
-        "ego vehicle near articulated bus",
-        "vehicle two vehicles ahead is turning",
-        "dog near pedestrian",
-        "vehicle traveling over 20 meters per second",
-        "pedestrian crossing in front of vehicle at crosswalk"
+        "cop cars in front of the ego vehicle",
+        "cop car sitting on median",
+        "vehicle surrounded by bicycles on all sides",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "motorcyclist",
+        "vehicle turning right with pedestrian in front",
+        "vehicles being passed by a motorcycle on either side",
+        "making a left lane change while there is a vehicle to the right"
     ],
-    "f6107596-76e0-3064-a4a6-86332a90e539": [
-        "the vehicle two cars in front of the ego vehicle",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle being overtaken while approaching another vehicle",
-        "the active vehicle in front of the vehicle ahead",
+    "c3388791-4fef-3278-a085-26121cf5f513": [
+        "active vehicle at stop sign",
+        "vehicle navigating near multiple bicycles",
+        "vehicle in close proximity to bicycle",
+        "vehicle aggressively passing another during a turn from the same lane",
+        "vehicle making left turn into left turn lane opposing traffic",
+        "vehicle stopped at a stop sign",
+        "vehicle moving at crawling speed",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle two vehicles ahead is turning"
+    ],
+    "6784f175-e69d-3802-99df-d21ec2081878": [
+        "pedestrian near stop sign",
+        "vehicle with animal in front",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "stop sign behind a pedestrian",
         "vehicle behind another vehicle that has a pedestrian on its right side",
-        "vehicle two vehicles ahead is turning",
-        "ego vehicle with vehicles on both sides",
-        "motorcyclist braking hard",
+        "pedestrians walking around a vehicle parked on a crosswalk",
+        "vehicle trying to merge into the same space as the ego vehicle",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle turning left",
+        "pedestrian walking past right side of vehicle"
+    ],
+    "e95e20d1-7f04-34b9-9105-4333f11bf6b9": [
+        "bicycle facing toward a vehicle",
+        "vehicle in close proximity to bicycle",
+        "vehicle accelerating towards pedestrian crossing",
+        "ego vehicle at a busy pedestrian crossing",
+        "pedestrian crossing in front of vehicle at crosswalk",
         "vehicle braking at pedestrian crossing",
-        "motorcycle overtaking a vehicle"
+        "bicycle traveling alongside parked vehicles",
+        "vehicle waiting at a red light",
+        "passenger vehicle turning left at intersection",
+        "pedestrian near construction cone"
     ],
-    "4d73c4eb-5de9-300c-b34f-ff5d0af89653": [
-        "pedestrian facing toward the bus",
-        "motorcyclist braking hard",
+    "7b7f86ca-b430-3872-a131-ff5b4a6b5dcf": [
+        "ego vehicle waiting for car to pass before making a right turn onto a main road",
+        "motorcycle overtaking a vehicle",
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian near stop sign",
+        "bicycle facing toward a vehicle",
+        "vehicle near construction barrel",
+        "ego vehicle reacting to a changing traffic light",
+        "vehicle at a stop sign",
+        "vehicle turning right at stop sign",
+        "left lane change while there is a vehicle to the left"
+    ],
+    "84c98474-28d8-309e-91c7-9cf9539825ab": [
+        "bus within 5 meters to either side of ego vehicle",
+        "dog",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "person walking two dogs",
+        "scooter rider passing ego vehicle through a small gap between the curb",
+        "bicycle facing toward a vehicle",
+        "person in a wheelchair on the median",
         "dog near an intersection",
-        "nearby cars reflecting the bright sunlight",
-        "bicycle near traffic cone",
-        "pedestrian walking with dog on sidewalk",
-        "bus with at least 3 pedestrians within 5 meters",
-        "ego vehicle near pedestrian crossing sign",
-        "vehicle being overtaken while approaching another vehicle",
-        "motorcycle in bike lane"
+        "bicycle behind a bus",
+        "dog on roadway"
     ],
-    "1bd7db3a-0b42-31cf-ac1a-de88fd9fa721": [
-        "bicycle traveling against traffic",
-        "vehicle inside intersection waiting to turn",
-        "bicycle in same lane as a vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle accelerating while changing lanes",
-        "vehicle two cars ahead is braking",
-        "bicycle passing by parked vehicle",
-        "bicycle crossing vehicle path at intersection",
-        "multiple motorcycles ahead of the ego vehicle"
+    "9282db22-c361-3456-a7b5-414959f5f25e": [
+        "dog crossing in front of vehicle",
+        "vehicle turning right with pedestrian waiting",
+        "vehicle going through intersection in front of ego vehicle without right of way",
+        "vehicle with multiple construction cones on the left side",
+        "vehicle changing lanes",
+        "police motorcycle",
+        "unattended stroller",
+        "delivery driver walking on the road to the back of their truck",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "stroller"
     ],
-    "91ac892f-d2c1-3143-b5c5-f0d4640cfc0d": [
-        "bicycle traveling against traffic",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle traveling alongside parked vehicles",
-        "bicyclist within 3 meters on either side",
-        "ego vehicle approaching cyclist in same lane",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+    "87621780-827a-3df5-8fa5-a94267d2d807": [
+        "ego vehicle traveling over a storm grate",
+        "ego vehicle two cars ahead of another vehicle",
+        "box truck with multiple construction cones to its right",
+        "box truck near at least 3 construction cones",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "bus spilling over the lane dividing line",
+        "group of pedestrians ahead of the ego vehicle",
+        "cones blocking the entrance to a road",
+        "pedestrian walking between construction barriers with approaching vehicle",
+        "vehicle being followed by ego vehicle while being overtaken on right"
+    ],
+    "c42d34f3-78d5-35be-9c47-77d297caebfe": [
+        "vehicle passing near person in wheelchair",
+        "police car stopped on the side of the road",
+        "bicycle on intersection",
         "car following closely behind bicyclist",
-        "passenger vehicle turning right",
-        "vehicle turning left while bicycle crosses from right",
-        "regular vehicle turning right"
+        "person in a wheelchair on the median",
+        "bicycle near traffic cone",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "bicycle traveling with vehicle traffic",
+        "bicycle in same lane as a vehicle"
     ],
-    "c2bbb391-a453-36af-b987-9d15f46b8589": [
-        "multiple pedestrians crossing ahead",
-        "dog near pedestrian",
-        "unattended dog",
-        "dog crossing in front of vehicle",
+    "5ea3cd9c-15d0-3b80-9cc4-02c8b5ad523a": [
+        "ego vehicle slowing down for a yellow light",
+        "pedestrian walking alongside stopped bus",
         "pedestrian crossing between bollards",
+        "pedestrian walking alongside bollard",
+        "vehicle in close proximity to bicycle",
+        "multiple buses within 50 meters ahead",
+        "bus with another bus in its lane",
         "pedestrian crossing at bollard",
-        "dog on roadway",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "car following closely behind bicyclist",
-        "ego vehicle two cars ahead of another vehicle"
-    ],
-    "e368d49a-e02a-3374-876e-8325f66c3574": [
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "passenger vehicle turning right",
-        "vehicle accelerating towards pedestrian crossing",
-        "passenger vehicle swerving left",
-        "ego vehicle following vehicle being overtaken on right",
-        "ego vehicle near construction barrel",
-        "car turning right",
-        "vehicle turning right near construction zone",
-        "bicycle near traffic cone",
-        "pedestrian near bollard"
+        "motorcycle near stop sign",
+        "pedestrian entering a bus"
     ],
-    "7905533a-694b-35db-b39f-aec9e33fb3de": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "accelerating passenger vehicle",
+    "be0615bc-1d82-334b-9c98-6adf40406955": [
+        "bus making right turn",
         "pedestrian near bollard",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "pedestrian facing toward ego vehicle",
-        "vehicle at intersection facing another vehicle",
-        "vehicle being overtaken by the ego vehicle",
-        "ego vehicle passing parked motorcycle",
-        "pedestrian walking past right side of vehicle",
-        "pedestrian crossing at bollard"
-    ],
-    "798354fc-30ee-36f4-83b4-f49c3b307db5": [
-        "object that hasn't moved",
-        "any vehicle in front of stop sign",
-        "pedestrian facing toward ego vehicle",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "delivery truck speeding down a narrow road",
         "vehicle with multiple construction cones on the left side",
-        "stopped car",
-        "regular vehicles that are stopped or nearly stopped",
-        "stop sign behind a pedestrian"
-    ],
-    "45488531-3648-3e2d-8f9c-3c287032112d": [
-        "vehicles stopping to not block entrance to the road",
-        "vehicle two cars ahead is braking",
-        "vehicle two vehicles ahead is braking",
-        "vehicle traveling over 20 meters per second",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle being overtaken while approaching another vehicle",
-        "vehicle braking heavily",
-        "vehicle approaching stopped vehicle at intersection",
-        "group of people",
-        "ego vehicle approaching crossing pedestrians"
-    ],
-    "c6b7a5fb-8cd8-3ee2-8e99-b788eb02e731": [
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle turning right with pedestrian in front",
-        "truck without trailer",
-        "vehicle accelerating towards pedestrian crossing",
-        "accelerating vehicle changing lanes to the right",
-        "pedestrian walking between trailers",
-        "ego vehicle following vehicle that is being overtaken on the right"
+        "truck with a person in the bed",
+        "vehicle navigating near multiple bicycles",
+        "vehicle side by side with ego vehicle in the same right turn lane",
+        "ego vehicle near stroller on sidewalk",
+        "pedestrian walking with stroller",
+        "vehicle two vehicles ahead is changing lanes",
+        "pedestrian between moving vehicles on both sides"
     ],
-    "c91f95de-d041-32f6-8b18-628a220be100": [
-        "vehicle making a right turn",
+    "5c0afbc0-a6ee-37c2-aebd-c1927caf7340": [
+        "pedestrian to the left of a truck",
+        "ego vehicle driving on streetcar tracks",
+        "pedestrians facing each other at close range, possibly conversing",
+        "construction cones under a bridge",
+        "ego vehicle with parked bicycles ahead",
+        "ego vehicle two cars ahead of another vehicle",
         "moving bus to the front-left of the ego vehicle",
-        "vehicle with multiple pedestrians to the left",
-        "truck sharing a lane with another truck",
-        "vehicle following another vehicle too closely",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "vehicle moving at crawling speed",
-        "truck without trailer",
-        "bus with multiple strollers in front",
-        "stroller with bollards on both sides"
+        "ego vehicle braking near traffic controller",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "vehicle maneuvering between construction barriers"
     ],
-    "5b614cfd-21c2-3b03-94c8-2a6c6bee166c": [
-        "bicycle near traffic cone",
-        "passenger vehicle turning left at intersection",
-        "bicycle on intersection",
-        "bicycle facing toward moving traffic",
-        "bicyclist riding in vehicle lane",
-        "bicyclist on intersection",
-        "bicyclist riding on the opposite sidewalk",
-        "bicycle and vehicle traveling in bike lane",
+    "4bf8e9ff-e1a1-3a22-a9d1-80f3846c0263": [
+        "ego vehicle driving on a clear day",
         "ego vehicle in dense traffic with lane-changing vehicles",
-        "pedestrian near stop sign"
+        "ego vehicle making right turn during a yellow light",
+        "accelerating vehicle changing lanes to the right",
+        "ego vehicle and vehicle across the intersection simultaneously turn onto the same side of the street",
+        "vehicle moving at crawling speed",
+        "box truck changing lanes to the left",
+        "ego vehicle driving during daylight",
+        "vehicle following another vehicle too closely",
+        "pedestrian between moving vehicles on both sides"
     ],
-    "399064b4-6df3-3de8-8793-2738f8723ee3": [
-        "stopped car",
-        "person stepping out of car onto road in front of ego vehicle",
-        "vehicle with multiple bicycles ahead",
-        "vehicle navigating near multiple bicycles",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle braking at pedestrian crossing"
+    "f849731b-d288-3bec-8f35-6bea979f7dd8": [
+        "vehicle in front of ego vehicle making right turn",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "the active vehicle in front of the vehicle ahead",
+        "vehicle braking heavily",
+        "vehicle facing and heading toward pedestrian group",
+        "car under a cover",
+        "a group of people",
+        "vehicle being overtaken on the right",
+        "vehicle making an unprotected left turn at an intersection",
+        "vehicle changing lanes to the right"
     ],
-    "a674e2e5-3dfd-3dd5-8503-192357b0e96c": [
-        "motorcycle between stopped vehicles",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicyclist within 3 meters on either side",
-        "motorcycle near construction cone",
+    "557dd6a4-2b80-3264-9c13-f70094526174": [
+        "bicyclist swerving around car parked in bike lane",
+        "box truck near at least 3 construction cones",
+        "bicycle passing by parked vehicle",
         "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "bicycle crossing vehicle path at intersection",
         "moving bicycle directly to the left of the ego vehicle",
-        "bicyclist changing lanes to the right",
-        "construction barrel with at least 2 construction cones within 3 meters"
+        "bicycle in same lane as a vehicle",
+        "bicyclist within 3 meters on either side",
+        "truck on intersection",
+        "van with a traffic cone attached to the front",
+        "pedestrian on road not facing traffic"
     ],
-    "4fcdebe7-b52f-39e7-a5bc-c664eeba5e7b": [
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "pedestrian walking alongside bollard",
-        "pedestrian near bollard",
-        "red cars",
-        "pedestrian crossing between bollards",
-        "a group of people",
-        "vehicle two vehicles ahead is at a stop sign",
-        "ego vehicle following vehicle being overtaken on right",
-        "bicycle traveling with vehicle traffic"
+    "1613c3d4-6350-37dc-9633-17125d9b6083": [
+        "pedestrian facing toward ego vehicle",
+        "objects getting closer to the ego vehicle",
+        "making a left lane change while there is a vehicle to the right",
+        "bicycle crossing vehicle path at intersection",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "vehicle backing off the road into a parking spot",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian waving for ego vehicle to continue",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "pedestrian crossing between bollards"
     ],
-    "b48a15fb-2e84-34df-946f-ad72b3d7296f": [
-        "stop sign behind a pedestrian",
-        "bicycle facing toward moving traffic",
-        "car following closely behind bicyclist",
-        "pedestrian near stop sign",
-        "group of three people",
-        "bus within 5 meters to either side of ego vehicle",
-        "bicycle behind a bus",
-        "pedestrian to the left of a truck",
-        "moving bus being crossed by a bicycle",
-        "turning left"
+    "2a930061-3d8c-3915-8aac-f81199db95d8": [
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle flashing their hazard lights",
+        "pedestrian crossing ahead of ego vehicle",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle near construction barrel",
+        "oncoming vehicle changing lanes",
+        "box truck changing lanes ahead",
+        "left lane change while there is a vehicle to the left",
+        "person crossing in front of entrance to parking lot",
+        "making a left lane change while there is a vehicle to the right"
     ],
-    "21c0472c-5ba2-3276-aad4-b9aa66cb5fa3": [
-        "skateboarder on the road",
-        "stopped car",
-        "vehicle two vehicles ahead is braking",
-        "vehicle sharing a lane with another vehicle",
-        "vehicle following another vehicle too closely",
-        "vehicle accelerating while changing lanes",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "ego vehicle near construction cone",
-        "vehicle with multiple construction cones on the left side",
-        "stopped vehicles at intersection being crossed by pedestrians"
+    "a9a3d5d7-e0c6-3f24-af35-2acadc1aa2d9": [
+        "vehicle braking heavily",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle being overtaken on the right",
+        "any vehicle in front of stop sign",
+        "ego vehicle driving during rain",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle to the back right of the ego vehicle",
+        "white car cutting in front of ego vehicle",
+        "ego vehicle driving during daylight",
+        "vehicle with caution markings on the back"
     ],
-    "a86ee261-b86b-34f7-92ab-be8367d1fc4c": [
-        "vehicle changing lanes to the right",
-        "vehicle with a bicycle to its right",
+    "2ee0eda7-151a-3957-bab5-1e5370192122": [
+        "vehicle making legal right turn during red light",
+        "pedestrian between moving vehicles on both sides",
+        "vehicle turning right next to pedestrian with stroller",
+        "pedestrians walking around a vehicle parked on a crosswalk",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle crossing path of another vehicle",
+        "passenger vehicle near stroller in road",
+        "ego vehicle approaching stopped delivery truck",
+        "vehicle accelerating on intersection",
+        "multiple pedestrians crossing ahead"
+    ],
+    "1ca5291b-3178-3a93-a117-001497899b79": [
+        "vehicle being tailgated while approaching stopped traffic",
+        "accelerating truck",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "fire truck in a non-emergency",
+        "vehicle turning left",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "large vehicle pulling out in front of ego  vehicle from side road",
+        "truck without trailer",
+        "motorcycle near construction cone",
+        "motorcyclist"
+    ],
+    "9ad6d7f8-0173-302a-a1ac-de99ef600dd2": [
+        "vehicle waiting for ego vehicle to pass to turn onto main road",
+        "vehicle with animal in front",
+        "dog near pedestrian",
+        "dog near an intersection",
+        "bicycle passing by parked vehicle",
+        "dog",
+        "utility vehicle (UTV) traveling on the road",
+        "excavator",
+        "accelerating truck",
+        "vehicle turning right with pedestrian waiting"
+    ],
+    "f3887a09-2881-3de6-bdb9-55b62a0d15f5": [
+        "vehicle turning right with pedestrian in front",
+        "vehicle making a right turn",
         "vehicle two vehicles ahead is changing lanes",
-        "vehicle being overtaken on the left",
-        "vehicle being overtaken while approaching another vehicle",
+        "vehicle two cars ahead is braking",
+        "bus going through an intersection",
+        "vehicle maneuvering between construction barriers",
+        "ego vehicle driving while it is cloudy",
+        "vehicle near construction barrel",
+        "vehicle crossing railroad tracks",
+        "vehicle stopped at construction barrel"
+    ],
+    "d70dae33-b4b2-36da-a4eb-345ef1c484cc": [
+        "vehicle turning right near construction zone",
+        "vehicle turning at intersection with nearby pedestrians",
+        "ego vehicle getting over to make space for long truck making a left turn",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "vehicle with a bicycle to its right",
+        "construction item on road",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "bicycle near traffic cone",
+        "vehicle two vehicles ahead is braking",
+        "vehicle passing the ego vehicle going signifcantly over the speed limit on an urban road"
+    ],
+    "9320afa3-ed05-3364-a017-ae7ddc5d26c7": [
+        "bicycle traveling with vehicle traffic",
+        "extended construction lift",
+        "pedestrian turning and watching the ego vehicle",
+        "pedestrians using designated crossing",
         "vehicle two cars ahead is changing lanes",
-        "vehicle facing toward a pedestrian at a crosswalk",
-        "vehicle crossing path of another vehicle",
-        "accelerating vehicle changing lanes to the right",
-        "ego vehicle near construction cone"
+        "pedestrian to the back-right of the ego vehicle",
+        "pedestrians facing each other at close range, possibly conversing",
+        "pedestrian crossing at bollard",
+        "ego vehicle making right turn during a yellow light",
+        "vehicle within 5 meters of a bicycle"
     ],
-    "e4221cc6-a19d-31ca-bf94-031adb0ea390": [
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "pedestrian walking alongside stopped bus",
-        "pedestrian walking alongside bollard",
-        "pedestrian near construction cone",
-        "pedestrian on road not facing traffic",
-        "city bus",
-        "bus with multiple pedestrians waiting on the right side",
-        "pedestrian on intersection not using a crosswalk",
-        "ego vehicle changing lanes to the left",
-        "bicycle traveling alongside parked vehicles"
+    "d70660da-4250-3ad1-a2d0-6a2d97b5379f": [
+        "vehicle two cars ahead is braking",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "ego vehicle near bollard",
+        "bus stopping at a bus stop",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle waiting for school bus to pass to make a right turn",
+        "vehicle stopped at a stop sign",
+        "two cars back from the ego vehicle",
+        "bicycle behind a bus",
+        "bicycle crossing vehicle path at intersection"
     ],
-    "412ccada-28df-3de2-b394-9cba3fca5bdf": [
-        "stopped vehicle facing a turning vehicle between 5-20 meters away",
-        "ego vehicle approaching stopped truck",
-        "van facing the wrong way in the middle turn lane",
-        "vehicle in close proximity to bicycle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "vehicle navigating near multiple bicycles",
-        "pedestrian walking between two stopped vehicles",
-        "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing",
-        "vehicle facing and accelerating toward pedestrian on road"
+    "fb207d3b-d2d5-3100-94c0-9145aebc770b": [
+        "vehicle with multiple pedestrians to the left",
+        "school bus on intersection",
+        "truck on intersection",
+        "two cars back from the ego vehicle",
+        "vehicle turning left during a yellow light",
+        "ego vehicle near construction cone",
+        "car in front of the ego vehicle during a turn",
+        "ego vehicle getting over after bike lane ends",
+        "dog",
+        "group of pedestrians ahead of the ego vehicle"
     ],
-    "51428934-b0a7-3507-94e3-31d37bba38a3": [
-        "vehicle facing the ego vehicle",
-        "vehicle two cars ahead is changing lanes",
-        "a group of people",
-        "vehicle crossing path of another vehicle",
-        "car pulling out of gas station onto road in front of ego vehicle",
-        "vehicle two vehicles ahead is changing lanes",
+    "2e95b33b-8ea1-3b48-875b-2f35f3092059": [
+        "regular vehicles that are stopped or nearly stopped",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle making left turn through ego-vehicle's path while it is raining",
+        "the vehicle two cars in front of the ego vehicle",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "ego vehicle driving at dusk or dawn",
+        "vehicle making left turn through ego vehicle's path while it is raining",
+        "vehicle making legal right turn during red light",
+        "vehicle following another vehicle too closely"
+    ],
+    "32835bfa-e53b-3526-9ec0-b0efcd11cbdf": [
+        "person",
+        "ego vehicle driving on a clear day",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "ego vehicle waiting to make a safe unprotected left turn",
+        "vehicle two vehicles ahead is turning",
+        "van pausing an unprotected left turn to let ego vehicle pass",
+        "passenger vehicle turning left at intersection",
         "vehicle moving at crawling speed",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "car with a stroller to its left",
-        "vehicle accelerating aggressively"
+        "passenger vehicle turning right",
+        "pedestrians over 30 meters away"
     ],
-    "1c8648f9-e7a1-3056-a2c0-19c8827a6a50": [
-        "ego vehicle near stroller on sidewalk",
-        "pedestrian near stop sign",
-        "vehicle stopped at construction barrel",
-        "bus with at least 3 pedestrians within 5 meters",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle near construction barrel",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "bus pulling back onto road in front of ego vehicle after stopping",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle turning right near construction zone"
+    "b42dc943-8b33-3b79-a260-14eb9f58a991": [
+        "vehicle being overtaken while approaching another vehicle",
+        "vehicle getting passed from the right",
+        "ego vehicle yielding to pedestrian",
+        "vehicle near multiple bollards",
+        "pedestrian crossing ahead of ego vehicle",
+        "vehicle with a bicycle to its right",
+        "vehicle changing lanes to the right",
+        "vehicle in red painted road lane",
+        "ego vehicle changing lanes near construction zone",
+        "pedestrian crossing at bollard"
     ],
-    "d67d020a-4d28-3bfd-891d-d6aa7dcf0a69": [
+    "f7c4cf87-6bab-3723-bd74-1c9ac5add9cb": [
         "motorcycle between stopped vehicles",
-        "ego vehicle near bollard",
-        "vehicle changing lanes while on an intersection",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "pedestrian walking alongside bollard",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "motorcycle between two vehicles",
-        "group of people",
-        "vehicle facing toward a pedestrian at a crosswalk"
+        "bus pulled into bus stop diagonally",
+        "bus within 5 meters to either side of ego vehicle",
+        "regular vehicle turning right",
+        "vehicle in red painted road lane",
+        "pedestrian walking alongside stopped bus",
+        "stroller",
+        "pedestrians using designated crossing",
+        "accelerating vehicle changing lanes to the right",
+        "bus in bus lane"
     ],
-    "131bd3d9-4f85-3ba3-b569-eb88308d79d5": [
-        "vehicle passing truck with pedestrian crossing ahead",
-        "bus in front of ego vehicle obstructing view of red traffic light",
-        "stationary construction barrel",
+    "67be173f-28a9-3bcc-b110-4b81dfe3bf5e": [
+        "ego vehicle at a busy pedestrian crossing",
+        "pedestrian with wheelchair at crosswalk",
+        "stop sign behind a pedestrian",
+        "moving wheelchair within 5 meters of an intersection",
+        "vehicle waiting for ego vehicle to pass to turn onto main road",
         "box truck braking in front of ego vehicle",
-        "box trucks within 10 meters of an intersection",
-        "truck on intersection",
-        "parked box trucks",
+        "regular vehicle turning right",
+        "pedestrians using designated crossing",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "bicycle traveling alongside parked vehicles"
+    ],
+    "34c79495-dbdf-393d-bcc6-e6f92f797628": [
         "vehicle stopped at a stop sign",
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle facing toward a pedestrian at a crosswalk"
+        "vehicle two vehicles ahead is at a stop sign",
+        "person directing traffic in a school zone",
+        "passenger vehicle swerving left",
+        "vehicle passing near person in wheelchair",
+        "car under a cover",
+        "traffic officer in roadway",
+        "ego vehicle braking near traffic controller",
+        "ego vehicle passing official signaler",
+        "vehicle stopped at official signaler"
     ],
-    "aaed41a5-47f2-3e0a-9645-2dbd871f744f": [
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+    "416f2e1c-0ffd-3089-97d2-0514b818f8d1": [
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "people entering a vehicle on the road",
+        "motorcyclist braking hard",
+        "bus in bus lane",
+        "vehicle being overtaken on the right",
+        "pedestrian crossing between bollards",
+        "pedestrian between moving vehicles on both sides",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
         "pedestrian facing toward the bus",
-        "vehicle being overtaken on the left",
-        "ego vehicle near construction barrel",
-        "vehicle turning right with pedestrian in front",
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle near construction barrel",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right"
-    ],
-    "e858fb96-6b1f-3025-b40a-f71fd8d28c32": [
-        "vehicle with multiple pedestrians to the left",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle crossing path of another vehicle",
-        "jaywalking pedestrian",
-        "group of pedestrians ahead of the ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "left lane change while there is a vehicle to the left",
-        "vehicle with multiple bicycles ahead",
-        "bicycle crossing vehicle path at intersection",
-        "vehicle facing and heading toward pedestrian group"
-    ],
-    "87e61f5a-083c-305e-9ff4-5f699e85900a": [
-        "vehicle facing away from the ego vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle facing the ego vehicle",
-        "vehicle following another vehicle too closely",
-        "ego vehicle in a 25 miles per hour zone",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle sharing a lane with another vehicle",
-        "jaywalking pedestrian",
-        "left lane change while there is a vehicle to the left",
-        "group of people"
+        "vehicle parallel parking"
     ],
-    "4fae2ef6-7112-309a-b926-448a5a3e1802": [
+    "b7cbdba9-18ac-393a-8352-4841ffee722e": [
+        "vehicle making a three-point turn",
+        "car turning right",
         "vehicle being crossed by a pedestrian",
-        "pedestrian darting through traffic",
-        "vehicle stopped at construction barrel",
+        "person crossing in front of entrance to parking lot",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle moving at crawling speed",
+        "person",
+        "vehicle changing lanes",
+        "parked box trucks"
+    ],
+    "c9fc62c5-a289-36e3-a900-7e7807eb2716": [
+        "vehicle side by side with ego vehicle in the same right turn lane",
+        "large vehicle pulling out in front of ego  vehicle from side road",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
         "ego vehicle approaching crossing pedestrians",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "stationary construction barrel",
+        "pedestrian near construction cone",
+        "vehicle with multiple pedestrians to the left",
         "pedestrian crossing ahead of ego vehicle",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "pedestrian walking between construction barriers with approaching vehicle",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away"
+        "parked box trucks",
+        "vehicle turning right near construction zone",
+        "multiple pedestrians crossing ahead"
     ],
-    "4a60c567-f167-3890-aa7e-01e75ccc40e0": [
-        "bicycle sharing lane as a regular vehicle",
-        "bicyclist on intersection",
+    "386c34fc-ff56-371c-9288-6ba42620f23a": [
+        "passenger vehicle turning left at intersection",
+        "ego vehicle merging between two regular vehicles",
+        "ego vehicle near articulated bus",
+        "unattended stroller",
+        "moving bus to the front-left of the ego vehicle",
+        "ego vehicle changing lanes to the left",
+        "ego vehicle between three school busses",
+        "vehicle cutting across lanes to make a left turn",
+        "ego vehicle approaching crossing pedestrians",
+        "pedestrian crossing in front of vehicle at crosswalk"
+    ],
+    "6da5d01e-54a7-3d7a-b86b-e0d6f8d3971d": [
+        "vehicle rolling through a stop sign but stopping before hitting the ego vehicle",
+        "vehicle accelerating while changing lanes",
+        "motorcyclist traveling opposite to bicycle traffic",
+        "vehicle facing toward parked vehicles",
+        "ego vehicle waiting for car to pass before making a right turn onto a main road",
+        "the active vehicle in front of the vehicle ahead",
+        "person",
+        "regular vehicle turning right",
+        "pedestrian facing toward ego vehicle",
+        "a runner crossing the street in the ego vehicle's path"
+    ],
+    "ed5fc860-c172-39c5-91c0-d712957fb1cd": [
+        "vehicle within 5 meters of a bicycle",
+        "vehicle moving at crawling speed",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle two cars ahead of another vehicle",
+        "vehicle being overtaken on the left",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle with a bicycle to its right",
+        "ego vehicle traveling over a storm grate",
+        "vehicle near multiple bollards",
+        "two of the same work truck"
+    ],
+    "d4c7aa45-dfd6-3d71-bb8a-40efd5110d3b": [
+        "truck cab with trailer sharing lane with regular vehicle",
         "vehicle braking heavily",
-        "bicycle in same lane as a vehicle",
-        "ego vehicle approaching cyclist in same lane",
-        "bicycle crossing vehicle path at intersection",
-        "bicycle making a left turn across the path of the ego vehicle",
-        "bicycle between two vehicles traveling in same direction",
-        "passenger vehicle swerving left",
-        "pedestrian between moving vehicles on both sides"
+        "jaywalking pedestrian",
+        "ego vehicle near construction cone",
+        "the third car forward from the ego vehicle",
+        "motorcycle near construction cone",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "construction workers working on the median next to the ego vehicle",
+        "group of people",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
     ],
-    "b40c0cbf-5d35-30df-9f63-de088ada278e": [
-        "vehicle changing lanes through bike lane",
-        "passenger vehicle turning left at intersection",
-        "pedestrian facing toward the bus",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "pedestrian between moving vehicles on both sides",
-        "pedestrian turning and watching the ego vehicle",
-        "oncoming vehicle changing lanes",
-        "vehicle changing lanes while in bike lane",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle two vehicles ahead is at a stop sign"
+    "deec57d0-d31b-31ec-aa75-88db5d9dadf5": [
+        "bicycle sharing lane as a regular vehicle",
+        "school bus at pedestrian crossing",
+        "white van with school bus students decal in front of ego vehicle",
+        "ego vehicle following vehicle being overtaken on right",
+        "group of people",
+        "ego vehicle approaching crossing pedestrians",
+        "bicycle traveling with vehicle traffic",
+        "multiple pedestrians crossing ahead",
+        "school bus on intersection",
+        "school bus passing ego vehicle"
     ],
-    "30e94a6b-ca9e-3d2c-9099-86700ce845f9": [
-        "bicycle traveling alongside parked vehicles",
-        "vehicle at intersection facing another vehicle",
-        "vehicle with multiple bicycles ahead",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicles retrofitted to be autonomous",
-        "vehicle navigating near multiple bicycles",
-        "another autonomous vehicle",
-        "vehicle approaching and facing a stopped vehicle at an intersection",
-        "vehicle braking heavily"
+    "bc073372-a582-4c57-a579-a7fcf15b49de": [
+        "vehicle in center turn lane",
+        "vehicle to the back right of the ego vehicle",
+        "vehicle following another vehicle too closely",
+        "vehicle changing lanes",
+        "pedestrians using designated crossing",
+        "vehicle changing lanes while on an intersection",
+        "truck unloading in the middle of the road",
+        "ego vehicle with vehicles on both sides",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "vehicle approaching multiple pedestrians at crosswalk"
     ],
-    "e95c8cc2-ddb3-3e7b-b8c3-e7584a778464": [
-        "left lane change while there is a vehicle to the left",
-        "passenger vehicle turning left at intersection",
+    "6ef553eb-6dbb-3a2a-ae3e-ed7090b8826a": [
+        "pedestrian on road not facing traffic",
+        "motorcycle overtaking a vehicle",
+        "vehicles being passed by a motorcycle on either side",
+        "a runner crossing the street in the ego vehicle's path",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "scooter lying down on the side of the road",
+        "ego vehicle merging between two regular vehicles",
         "pedestrian to the back-right of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "parked box trucks",
-        "moving bus to the front-left of the ego vehicle",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "pedestrian near message board trailer",
-        "vehicle changing lanes near message board trailer"
+        "vehicle waiting at a red light",
+        "ego vehicle passing official signaler"
     ],
-    "c0e93b69-158e-3f05-931b-999bdf9d753a": [
-        "motorcycle between stopped vehicles",
-        "motorcycle or pedestrian within 5 meters to the right",
+    "5f016e44-0f38-3837-9111-58ec18d1a5e6": [
+        "vehicle near construction barrel",
+        "two cars back from the ego vehicle",
         "pedestrian with multiple dogs",
-        "oncoming vehicle changing lanes",
-        "pedestrian to the back-right of the ego vehicle",
-        "motorcycle between two vehicles",
-        "group of three people",
-        "left lane change while there is a vehicle to the left",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "stopped vehicle facing a turning vehicle between 5-20 meters away"
-    ],
-    "cf79d751-5d2a-3d5c-96a2-bb8d603f21e0": [
-        "jaywalking pedestrian",
-        "pedestrian walking alongside bollard",
-        "box truck changing lanes ahead",
-        "box truck changing lanes to the left",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "vehicle two vehicles ahead is turning",
+        "vehicle two vehicles ahead is changing lanes",
         "pedestrian on intersection not using a crosswalk",
-        "vehicle turning left while bicycle crosses from right",
-        "bicycle traveling against traffic",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks"
+        "vehicle stopped at construction barrel",
+        "moving excavator on the road",
+        "truck unloading in the middle of the road",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "stationary construction barrel"
     ],
-    "de23dfe1-c0b1-441b-810b-324090dc171b": [
-        "bicycle on intersection",
-        "pedestrian near construction cone",
-        "group of people",
-        "pedestrian turning and watching the ego vehicle",
-        "pedestrians facing each other at close range, possibly conversing",
-        "pedestrian walking past right side of vehicle",
-        "group of pedestrians ahead of the ego vehicle",
+    "7e48bba5-438c-3813-9ce2-97c98868afed": [
+        "bus with multiple pedestrians waiting on the right side",
+        "bicycle behind a bus",
+        "car driving in bus lane",
+        "ego vehicle driving during snow",
         "car following closely behind bicyclist",
-        "truck swerving near construction cones",
-        "vehicle between two bicycles while on pedestrian crossing"
+        "car cutting in front of ego vehicle at intersection",
+        "vehicle stopped at a stop sign",
+        "bus in bus lane",
+        "ego vehicle approaching intersection with crossing dog",
+        "vehicle going through intersection in front of ego vehicle without right of way"
     ],
-    "a69fa035-5121-3a39-a3ce-e33e9f54b506": [
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
+    "6f3dbf4b-9559-340c-a3e4-cbe655bf2059": [
+        "ego vehicle driving on a clear day",
+        "motorcycle at stop sign",
         "active vehicle at stop sign",
-        "multiple pedestrians crossing ahead",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle turning right with pedestrian in front",
-        "ego vehicle approaching crossing pedestrians",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian crossing at bollard",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "pedestrian between moving vehicles on both sides"
+        "pedestrian darting through traffic",
+        "ego vehicle traveling down the middle of a three-lane one-way street",
+        "pedestrian to the left of a truck",
+        "vehicle being passed on the left by another vehicle",
+        "vehicle getting over to make room for a cyclist in a bike lane",
+        "stop sign behind a pedestrian",
+        "vehicle at a stop sign"
     ],
-    "ae908cc4-7301-3390-8940-eb9b679a8a39": [
-        "vehicle following another vehicle too closely",
-        "stationary object",
-        "vehicle traveling over 20 meters per second",
-        "vehicle at intersection facing another vehicle",
-        "vehicle turning right with pedestrian in front",
-        "parked vehicle",
-        "vehicle facing away from the ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle braking heavily"
+    "28bd43de-e2b7-3c60-a626-0e525f639357": [
+        "pedestrian approaching a parked vehicle",
+        "vehicle making an unprotected left turn at an intersection",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "bicycle following closely behind a vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "oncoming vehicle changing lanes",
+        "vehicle two cars ahead is changing lanes",
+        "accelerating passenger vehicle",
+        "vehicle aggressively passing another during a turn from the same lane"
     ],
-    "5133fc11-ecb7-318d-8338-6502d2390f24": [
-        "vehicle passing near person in wheelchair",
-        "accelerating truck",
-        "stopped delivery trucks",
+    "a89557fc-1268-36e5-9cce-335f2da27bc8": [
+        "ego vehicle approaching cyclist in same lane",
+        "car cutting in front of ego vehicle at intersection",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "small child walking with their parent",
+        "car following closely behind bicyclist",
+        "the vehicle two cars in front of the ego vehicle",
         "moving wheelchair within 5 meters of an intersection",
-        "wheelchair user at pedestrian crossing",
-        "bus in the same lane as a truck",
-        "truck sharing a lane with another truck",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "box truck braking in front of ego vehicle",
-        "ego vehicle approaching intersection with crossing dog"
-    ],
-    "a315b370-623a-3e19-8ffb-ba62661286ae": [
-        "vehicle at a stop sign",
-        "stationary object",
-        "motorcycle or pedestrian within 5 meters to the right",
-        "motorcycle between stopped vehicles",
-        "vehicle being overtaken on the left",
-        "vehicle passing stopped truck with pedestrian nearby",
-        "vehicle two vehicles ahead is at a stop sign",
-        "ego vehicle approaching stopped delivery truck",
-        "ego vehicle with box truck ahead and motorcycle behind",
-        "box truck near at least 3 construction cones"
+        "accelerating truck",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "pedestrian crossing in front of cyclist near intersection"
     ],
-    "7a8ec82c-1149-308b-8a12-477460843f35": [
-        "bicycle in vehicle lane with vehicle",
-        "ego vehicle with vehicles on both sides",
-        "bicycle in same lane as a vehicle",
-        "adjacent vehicle in turn lane continuing straight at intersection",
-        "ego vehicle near construction cone",
-        "fire truck in a non-emergency",
-        "bicycle sharing lane as a regular vehicle",
-        "bicycle traveling with vehicle traffic",
+    "b4c0dac8-09d8-3f4b-be7b-9f89473c250c": [
+        "person walking around car parked on pedestrian crossing",
+        "pedestrian crossing ahead of ego vehicle",
+        "bicycle facing toward moving traffic",
+        "vehicle passing truck with pedestrian crossing ahead",
+        "vehicle turning right at stop sign",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "multiple pedestrians crossing ahead",
         "pedestrian to the left of a truck",
-        "bicyclist on intersection"
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "jaywalking pedestrian causing ego vehicle to stop"
     ],
-    "e596b305-c951-3081-ae02-85406a473840": [
-        "vehicle two vehicles ahead is turning",
+    "677c7bcc-f29b-34ae-a91d-74cb863117c8": [
         "vehicle changing lanes through bike lane",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "bus in the same lane as a truck",
+        "vehicle turning right with pedestrian waiting",
+        "large truck blocking view of vehicle that is about to turn left onto a main road",
+        "pedestrian near stop sign",
+        "truck cab with trailer sharing lane with regular vehicle",
+        "ego vehicle slowing down for a yellow light",
+        "ego vehicle driving during snow",
         "vehicle changing lanes while in bike lane",
+        "vehicle stopped at construction barrel"
+    ],
+    "6fa5051b-0220-3e04-8ae3-7a199c2f5877": [
+        "vehicle approaching stopped vehicle at intersection",
+        "ego vehicle between three school busses",
+        "vehicle traveling over 20 meters per second",
+        "vehicle merging into lane in front of ego vehicle",
+        "bicyclist riding in vehicle lane",
+        "vehicle braking near pedestrian crossing",
+        "car pulling out of gas station onto road in front of ego vehicle",
         "vehicle accelerating while changing lanes",
-        "truck on intersection",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian near construction cone",
-        "vehicle facing and heading toward pedestrian group",
-        "vehicle maneuvering between construction barriers"
+        "vehicle passing school bus at stop",
+        "ego vehicle following vehicle that is being overtaken on the right"
     ],
-    "d70bc0a2-9d7f-36bd-bf37-ed798b10b71b": [
-        "vehicle turning left at intersection while sharing lane with a bus",
-        "stroller",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "vehicle turning right next to pedestrian with stroller",
-        "pedestrians facing each other at close range, possibly conversing",
-        "bus making right turn",
-        "pedestrian walking alongside stopped bus",
-        "pedestrian walking with stroller",
-        "ego vehicle near stroller on sidewalk",
-        "pedestrian with stroller jaywalking"
+    "3fca5366-2b2c-387b-b63c-7ae8f9e0cec1": [
+        "motorcyclist traveling opposite to bicycle traffic",
+        "motorcycle between two vehicles",
+        "pedestrian walking with dog on sidewalk",
+        "unattended dog",
+        "school bus at pedestrian crossing",
+        "motorcyclist",
+        "police motorcycle",
+        "group of three people",
+        "car on opposite side of road pulling over",
+        "vehicle with multiple pedestrians to the left"
     ],
-    "4b6fd841-5e08-30cd-b61b-d51aa36d71dd": [
-        "bus within 5 meters to either side of ego vehicle",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "motorcycle near construction cone",
-        "a group of people",
-        "bus spilling over the lane dividing line",
-        "pedestrian walking past right side of vehicle",
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "vehicle near multiple bollards",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle making a right turn"
+    "1eb3360f-4c34-3310-9ce6-845ea9272c56": [
+        "car turning right",
+        "vehicle two vehicles ahead is at a stop sign",
+        "motorcycle near stop sign",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "motorcycle at stop sign",
+        "pedestrian near construction cone",
+        "ego vehicle driving during rain",
+        "vehicle turning right at stop sign",
+        "stop sign on a road with two lanes per direction",
+        "vehicles stopping to not block entrance to the road"
     ],
-    "295c7cd1-afe3-3dc3-be31-c63f3e9d65dc": [
-        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
-        "vehicle changing lanes while on an intersection",
-        "vehicle stopped at a stop sign",
-        "stationary construction barrel",
-        "dog",
-        "vehicle passing the ego vehicle going signifcantly over the speed limit on an urban road",
-        "pedestrian between moving vehicles on both sides",
-        "ego vehicle two cars ahead of another vehicle",
-        "group of pedestrians ahead of the ego vehicle",
-        "pedestrian turning and watching the ego vehicle"
+    "f7d568d4-0836-3f47-b330-f8d204c4b96e": [
+        "car following closely behind bicyclist",
+        "vehicle making a left turn from road with large median",
+        "bicycle traveling alongside parked vehicles",
+        "car with a stroller to its left",
+        "pedestrian with wheelchair at crosswalk",
+        "box trucks within 10 meters of an intersection",
+        "person walking their bike across the street",
+        "bicyclist on intersection",
+        "ego vehicle approaching stopped delivery truck",
+        "multiple buses within 50 meters ahead"
     ],
-    "f77889f6-ef5a-4eed-a4cd-5d67d4a6e9c5": [
-        "passenger vehicle turning right",
-        "truck on intersection",
-        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
-        "vehicle turning right near construction zone",
-        "the vehicle two cars in front of the ego vehicle",
-        "construction item on road",
+    "c45888cf-30f5-3e27-abeb-4f55caecc1f0": [
+        "bicycle traveling against traffic",
+        "bicycle facing toward moving traffic",
+        "vehicle stopped at official signaler",
+        "ego vehicle at two-lane stop sign with another vehicle at its side",
+        "ego vehicle with vehicles on both sides",
+        "bicycle passing by parked vehicle",
+        "traffic officer in roadway",
         "vehicle at intersection facing another vehicle",
-        "ego vehicle near construction barrel",
-        "ego vehicle near mobile pedestrian sign",
-        "vehicle two vehicles ahead is turning"
+        "pedestrian using a cane",
+        "active vehicle at stop sign"
+    ],
+    "9d16e76e-46ae-38c6-8399-99218514afde": [
+        "passenger vehicle turning left at intersection",
+        "vehicle being tailgated while approaching stopped traffic",
+        "school bus passing ego vehicle",
+        "construction workers working on the median next to the ego vehicle",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "scooter rider passing ego vehicle through a small gap between the curb",
+        "vehicle being followed by ego vehicle while being overtaken on right",
+        "multiple buses within 50 meters ahead",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "ego vehicle with vehicles on both sides"
+    ],
+    "6b012ed3-c322-3522-b52c-b4f24f894d4c": [
+        "vehicle accelerating while changing lanes",
+        "ego vehicle near construction cone",
+        "ego vehicle merging between two vehicles using a slip lane",
+        "ego vehicle braking to avoid a vehicle that is partially in their lane",
+        "vehicle accelerating on intersection",
+        "truck without trailer",
+        "motorcycle between stopped vehicles",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "ego vehicle with vehicles on both sides",
+        "vehicle making left turn into left turn lane opposing traffic"
+    ],
+    "803c44cc-e1de-3797-9b5f-15324a1604f8": [
+        "bus with at least 3 pedestrians within 5 meters",
+        "sitting person",
+        "bicycle near traffic cone",
+        "white car cutting in front of ego vehicle",
+        "pedestrian walking alongside stopped bus",
+        "vehicle with multiple bicycles ahead",
+        "vehicle being overtaken on the left",
+        "bicycle following closely behind a vehicle",
+        "pedestrian walking past right side of vehicle",
+        "bicyclist swerving around car parked in bike lane"
     ],
     "307e27f2-6442-39a2-b62c-1e3d000cebaf": [
+        "accelerating passenger vehicle",
+        "pedestrian walking their dog",
+        "stop sign on a road with two lanes per direction",
+        "ego vehicle approaching intersection with crossing dog",
         "dog crossing in front of vehicle",
         "unattended stroller",
-        "pedestrian walking their dog",
-        "vehicle stopped at a stop sign",
         "vehicle two vehicles ahead is at a stop sign",
-        "ego vehicle approaching intersection with crossing dog",
         "dog on roadway",
-        "pedestrian with multiple dogs",
-        "vehicle turning while pedestrian crosses with stroller",
-        "vehicle turning right with pedestrian waiting"
+        "vehicle with animal in front",
+        "vehicle navigating near multiple bicycles"
+    ],
+    "4abe4fc9-183a-3ec1-9434-bc74fb724c0f": [
+        "pedestrian walking alongside bollard",
+        "ego vehicle traveling on brick street",
+        "vehicle with multiple bicycles ahead",
+        "pedestrian waving for ego vehicle to continue",
+        "pedestrian crossing between bollards",
+        "ego vehicle near stroller on sidewalk",
+        "motorcyclist braking hard",
+        "pedestrian with wheelchair at crosswalk",
+        "pedestrian turning and watching the ego vehicle",
+        "vehicle passing near person in wheelchair"
     ],
     "b869e2cb-3804-389a-a3c7-b80f57c7d2ac": [
+        "ego vehicle near construction barrel",
+        "large truck blocking view of vehicle that is about to turn left onto a main road",
         "box truck braking in front of ego vehicle",
-        "railed vehicle",
-        "accelerating vehicle changing lanes to the right",
+        "delivery driver walking on the road to the back of their truck",
+        "vehicle facing and accelerating toward pedestrian on road",
         "moving pedestrian within 3 meters to the left of ego vehicle",
-        "ego vehicle approaching stopped delivery truck",
+        "vehicle accelerating towards pedestrian crossing",
+        "accelerating vehicle changing lanes to the right",
         "vehicle accelerating on intersection",
-        "pedestrians using designated crossing",
-        "the vehicle two cars behind the ego vehicle",
-        "vehicle two cars ahead is braking",
-        "accelerating truck"
+        "railed vehicle"
     ],
     "840b2b3f-5f52-32ae-b833-ad030063533d": [
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "ego vehicle waiting for pedestrians at crosswalk",
+        "vehicle with a bicycle on back",
         "vehicle two vehicles ahead is at a stop sign",
-        "dog near an intersection",
-        "dog on roadway",
-        "pedestrian crossing in front of vehicle at crosswalk",
+        "vehicle being crossed by a pedestrian",
+        "railed vehicle",
+        "vehicle turning left with a bicycle in front of it",
+        "dog near pedestrian",
+        "bicyclist traveling wrong way down one-way road",
+        "stationary construction barrel"
+    ],
+    "f77889f6-ef5a-4eed-a4cd-5d67d4a6e9c5": [
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "truck towing trailer in front of the ego vehicle",
+        "construction item on road",
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "ego vehicle near construction barrel",
+        "pedestrians facing each other at close range, possibly conversing",
+        "vehicle turning right near construction zone",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle in front of ego vehicle braking to let someone pull onto the road",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead"
+    ],
+    "3503b283-fbcd-3835-8779-0cb2b7ef55b0": [
+        "ego vehicle driving during snow",
+        "pedestrian in front of a bicyclist who is to the left of a vehicle",
+        "a group of people",
+        "bicycle making a left turn across the path of the ego vehicle",
+        "bicyclist riding in vehicle lane",
+        "vehicle two vehicles ahead is at a stop sign",
+        "vehicle turning left while bicycle crosses from right",
+        "vehicle turning left with a bicycle in front of it",
+        "vehicle hard braking with another vehicle ahead",
+        "van with a traffic cone attached to the front"
+    ],
+    "4a78c5db-041b-347b-9821-ceb82f99e3f8": [
+        "bicycle in vehicle lane with vehicle",
+        "pedestrian on intersection not using a crosswalk",
+        "ego vehicle driving ahead of active streetcar",
+        "ego vehicle near construction barrel",
+        "bus within 5 meters to either side of ego vehicle",
+        "bicyclist on intersection",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "ego vehicle driving on streetcar tracks",
+        "passenger vehicle turning left at intersection",
+        "dog"
+    ],
+    "65f1eefa-cbc3-3d53-9991-dc0500ae9183": [
+        "oncoming vehicle changing lanes",
+        "ego vehicle switching lanes around a stopped delivery vehicle",
+        "vehicle approaching stopped vehicle at intersection",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "pedestrian on intersection not using a crosswalk",
+        "excavator",
+        "objects getting closer to the ego vehicle",
+        "vehicle between two bicycles while on pedestrian crossing",
+        "motorcycle between two vehicles",
+        "ego vehicle changing lanes near construction zone"
+    ],
+    "9da07440-1001-3b00-a29f-c8bdc2f2b7d4": [
+        "vehicle accelerating more than two meters per second",
+        "pedestrian facing toward ego vehicle",
+        "vehicle turning right next to pedestrian with stroller",
+        "vehicle to the back right of the ego vehicle",
+        "bicycle sharing lane as a regular vehicle",
+        "vehicle crossing path of another vehicle",
+        "cop cars in front of the ego vehicle",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "ego vehicle navigating intersection with a broken traffic light",
+        "vehicle sporting an advertisement that causes the facial blurring algorithm to flicker"
+    ],
+    "a7f532a3-87de-3129-8864-258396fd0b50": [
+        "ego vehicle driving while it is cloudy",
         "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "pedestrian walking with dog on sidewalk",
+        "vehicle making an left turn during a red light",
+        "white van with school bus students decal in front of ego vehicle",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle changing lanes while on an intersection",
+        "vehicle being crossed by a pedestrian",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
         "vehicle two cars ahead is being crossed by a pedestrian",
-        "ego vehicle changing lanes near bicycle while approaching stop sign",
-        "group of at least 3 moving bicyclists within 5 meters of each other",
-        "vehicle changing lanes near group of cyclists"
+        "vehicle turning at intersection with nearby pedestrians"
     ],
-    "4abe4fc9-183a-3ec1-9434-bc74fb724c0f": [
-        "vehicle navigating near multiple bicycles",
-        "two cars back from the ego vehicle",
-        "pedestrian crossing in front of vehicle at crosswalk",
-        "ego vehicle traveling on cobblestone street",
-        "pedestrian walking alongside bollard",
-        "vehicle behind another vehicle that has a pedestrian on its right side",
-        "regular vehicle turning right",
+    "98e7f0eb-4676-3120-94f1-8a790581e6a4": [
+        "vehicle changing lanes",
+        "the active vehicle in front of the vehicle ahead",
+        "stopped vehicles at intersection being crossed by pedestrians",
+        "utility vehicle (UTV) traveling on the road",
+        "people entering a vehicle on the road",
         "vehicle with multiple bicycles ahead",
-        "passenger vehicle turning left at intersection",
-        "vehicle changing lanes"
+        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+        "person standing in the back of a truck",
+        "vehicle navigating near multiple bicycles",
+        "multiple pedestrians crossing ahead"
     ],
-    "803c44cc-e1de-3797-9b5f-15324a1604f8": [
-        "bicycle near traffic cone",
-        "pedestrian walking alongside stopped bus",
-        "ego vehicle near bollard",
-        "vehicle with a bicycle mounted on it",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle changing lanes",
-        "white car cutting in front of ego vehicle",
-        "vehicle turning right with pedestrian in front",
-        "bicycle behind a bus",
-        "vehicle passing bicycle near mobile pedestrian sign"
+    "48c9cd36-68bf-3bb9-ab95-5e0a6fee61ab": [
+        "ego vehicle driving during rain",
+        "vehicle with a bicycle to its right",
+        "ego vehicle reacting to a changing traffic light",
+        "car turning right",
+        "vehicle passing school bus at stop",
+        "bus making right turn",
+        "vehicle making a right turn",
+        "ego vehicle starting to switch lanes but then going back",
+        "at least active 2 vehicles within 15 meters behind ego vehicle",
+        "vehicle getting passed from the right"
     ],
-    "f7d568d4-0836-3f47-b330-f8d204c4b96e": [
-        "bicycle passing by parked vehicle",
-        "stroller",
-        "pedestrian walking with stroller",
-        "city bus",
-        "ego vehicle approaching stopped delivery truck",
-        "car with a stroller to its left",
-        "multiple buses within 50 meters ahead",
-        "box trucks within 10 meters of an intersection",
-        "vehicle braking near jaywalking pedestrian or stroller",
-        "bicycle near a bus"
+    "c83da752-b12f-3fbd-b728-4abb9551723b": [
+        "any vehicle in front of stop sign",
+        "construction barrel with at least 2 construction cones within 3 meters",
+        "vehicle approaching stopped vehicle at intersection",
+        "pedestrian walking their dog",
+        "vehicle changing lanes through bike lane",
+        "pedestrian near stop sign",
+        "vehicle turning right near construction zone",
+        "vehicle changing lanes while in bike lane",
+        "vehicle making left turn across ego vehicle into a parking lot",
+        "pedestrian crossing between bollards"
     ],
-    "c45888cf-30f5-3e27-abeb-4f55caecc1f0": [
+    "cf79d751-5d2a-3d5c-96a2-bb8d603f21e0": [
+        "ego vehicle approaching pedestrian at crosswalk",
+        "a group of people",
+        "city bus",
         "bicycle traveling against traffic",
+        "car turning right",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "vehicle turning left during a yellow light",
+        "box truck changing lanes ahead",
+        "box truck changing lanes to the left",
+        "vehicle in outside turn lane takes a sharp turn, cutting off the ego vehicle"
+    ],
+    "c0e93b69-158e-3f05-931b-999bdf9d753a": [
+        "motorcycle between stopped vehicles",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle near construction cone",
+        "passenger vehicle swerving left",
+        "group of three people",
+        "pedestrian with multiple dogs",
+        "vehicle proceeding through intersection after light changes from red to green",
+        "ego vehicle getting over after bike lane ends",
+        "motorcycle between two vehicles",
+        "group of pedestrians ahead of the ego vehicle"
+    ],
+    "e95c8cc2-ddb3-3e7b-b8c3-e7584a778464": [
+        "bicycle following closely behind a vehicle",
+        "ego vehicle driving while it is cloudy",
+        "vehicle navigating near multiple bicycles",
+        "bicycle crossing in front of ego vehicle in construction zone",
+        "motorcycle or pedestrian within 5 meters to the right",
         "bicycle facing toward moving traffic",
-        "ego vehicle two cars ahead of another vehicle",
-        "active vehicle at stop sign",
-        "bicycle traveling alongside parked vehicles",
-        "bicycle passing by parked vehicle",
-        "bicycle facing toward a vehicle",
+        "double decker bus on the opposite side of the road",
+        "vehicle in close proximity to bicycle",
+        "oncoming vehicle changing lanes",
+        "vehicle hard braking with another vehicle ahead"
+    ],
+    "4a60c567-f167-3890-aa7e-01e75ccc40e0": [
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle turning right at stop sign",
+        "ego vehicle approaching cyclist in same lane",
+        "cones blocking the entrance to a road",
+        "bicyclist riding in vehicle lane",
+        "vehicle braking heavily",
+        "box truck in bike lane",
+        "bicycle making a left turn across the path of the ego vehicle",
+        "bicycle crossing vehicle path at intersection",
+        "construction item on road"
+    ],
+    "b40c0cbf-5d35-30df-9f63-de088ada278e": [
+        "vehicle changing lanes while in bike lane",
+        "ego vehicle turning right through a green light without having to stop",
         "vehicle at a stop sign",
-        "vehicle being overtaken on the right",
-        "pedestrian on road not facing traffic"
+        "pedestrian on intersection not using a crosswalk",
+        "vehicle passing stopped truck with pedestrian nearby",
+        "vehicle changing lanes through bike lane",
+        "ego vehicle approaching cyclist in same lane",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "vehicle making left turn through ego-vehicle's path while it is raining",
+        "ego vehicle driving during rain"
     ],
-    "6b012ed3-c322-3522-b52c-b4f24f894d4c": [
-        "vehicle traveling in the opposite direction as the ego vehicle",
-        "dog",
-        "vehicle accelerating on intersection",
-        "accelerating passenger vehicle",
-        "pedestrian walking with dog on sidewalk",
-        "car turning right",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "pedestrian to the back-right of the ego vehicle",
-        "accelerating wheeled devices",
-        "dog near an intersection"
+    "30e94a6b-ca9e-3d2c-9099-86700ce845f9": [
+        "ego vehicle driving on a clear day",
+        "ego vehicle and vehicle across the intersection simultaneously turn onto the same side of the street",
+        "vehicle navigating near multiple bicycles",
+        "bicycle traveling alongside parked vehicles",
+        "bicycle facing toward moving traffic",
+        "objects getting closer to the ego vehicle",
+        "vehicle accelerating more than two meters per second",
+        "ego vehicle following vehicle being overtaken on right",
+        "vehicle with multiple bicycles ahead",
+        "bicycle traveling alongside construction indicators"
+    ],
+    "4fae2ef6-7112-309a-b926-448a5a3e1802": [
+        "stationary construction barrel",
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle waiting for school bus to pass to make a right turn",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "the vehicle two cars behind the ego vehicle",
+        "ego vehicle with parked bicycles ahead",
+        "vehicle stopped at construction barrel",
+        "school bus on intersection",
+        "pedestrians facing each other at close range, possibly conversing",
+        "pedestrian darting through traffic"
+    ],
+    "295c7cd1-afe3-3dc3-be31-c63f3e9d65dc": [
+        "delivery truck speeding down a narrow road",
+        "vehicle stopped at construction barrel",
+        "vehicle passing the ego vehicle going signifcantly over the speed limit on an urban road",
+        "ego vehicle near bollard",
+        "vehicle facing and heading toward pedestrian group",
+        "left lane change while there is a vehicle to the left",
+        "ego vehicle following vehicle being overtaken on right",
+        "dog near pedestrian",
+        "vehicle stopped at a stop sign",
+        "pedestrian between moving vehicles on both sides"
+    ],
+    "4b6fd841-5e08-30cd-b61b-d51aa36d71dd": [
+        "bus spilling over the lane dividing line",
+        "the vehicle two cars behind the ego vehicle",
+        "ego vehicle following vehicle being overtaken on right",
+        "moving bus to the front-left of the ego vehicle",
+        "motorcycle near construction cone",
+        "pedestrian near bollard",
+        "pedestrian facing toward ego vehicle",
+        "bicycle traveling against traffic",
+        "pedestrian facing toward the bus",
+        "pedestrian entering a bus"
+    ],
+    "e596b305-c951-3081-ae02-85406a473840": [
+        "vehicle turning right with pedestrian waiting",
+        "vehicle two vehicles ahead is turning",
+        "vehicle facing and heading toward pedestrian group",
+        "vehicle changing lanes through bike lane",
+        "car making left turn that causes the ego vehicle to slow down",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle changing lanes while in bike lane",
+        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
+        "ego vehicle slowing down to let another vehicle turn onto road in front of them"
     ],
-    "9d16e76e-46ae-38c6-8399-99218514afde": [
-        "multiple buses within 50 meters ahead",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "vehicle being passed on the left by another vehicle",
+    "a315b370-623a-3e19-8ffb-ba62661286ae": [
+        "vehicle two vehicles ahead is braking",
+        "car driving in bus lane",
+        "vehicle turning on to same road as the ego vehicle",
+        "person crossing directly in front of the ego vehicle",
+        "vehicle cutting across ego vehicle to get to the turn lane",
         "vehicle being overtaken while approaching another vehicle",
+        "pedestrian near stop sign",
+        "vehicle passing stopped truck with pedestrian nearby",
         "vehicle being overtaken on the left",
-        "vehicle crossing path of another vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "wheeled rider crossing in front of vehicle at stop sign",
-        "pedestrian facing toward ego vehicle"
+        "vehicle getting passed from the right"
     ],
-    "c83da752-b12f-3fbd-b728-4abb9551723b": [
-        "vehicle changing lanes while in bike lane",
-        "pedestrian near construction cone",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "pedestrian turning and watching the ego vehicle",
-        "vehicle changing lanes through bike lane",
-        "vehicle approaching stopped vehicle at intersection",
-        "construction barrel with at least 2 construction cones within 3 meters",
-        "vehicle two cars ahead is being crossed by a pedestrian",
-        "vehicle turning left with a bicycle in front of it",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian"
+    "7a8ec82c-1149-308b-8a12-477460843f35": [
+        "bicycle in same lane as a vehicle",
+        "fire truck in a non-emergency",
+        "pedestrian walking past right side of vehicle",
+        "bicycle facing toward a vehicle",
+        "the vehicle two cars behind the ego vehicle",
+        "bicycle in vehicle lane with vehicle",
+        "bicycle sharing lane as a regular vehicle",
+        "pedestrian with wheelchair at crosswalk",
+        "adjacent vehicle in turn lane continuing straight at intersection",
+        "vehicle approaching and facing a stopped vehicle at an intersection"
     ],
-    "98e7f0eb-4676-3120-94f1-8a790581e6a4": [
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicles being passed by a motorcycle on either side",
-        "bicyclist riding in vehicle lane",
-        "bicycle on intersection",
-        "ego vehicle with parked bicycles ahead",
-        "group of three people",
-        "vehicle with multiple bicycles ahead",
+    "d70bc0a2-9d7f-36bd-bf37-ed798b10b71b": [
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle taking up two lanes",
+        "pedestrian walking with stroller",
+        "bus making right turn",
+        "vehicle turning right next to pedestrian with stroller",
+        "pedestrian walking alongside stopped bus",
+        "person pushing a wheelchair across the road",
+        "pedestrian with wheelchair at crosswalk",
+        "bus with at least 3 pedestrians within 5 meters",
+        "vehicle navigating near multiple bicycles"
+    ],
+    "5133fc11-ecb7-318d-8338-6502d2390f24": [
+        "wheelchair user at pedestrian crossing",
+        "bus in the same lane as a truck",
+        "ego vehicle near articulated bus",
+        "truck sharing a lane with another truck",
+        "ego vehicle approaching stroller or wheelchair user at pedestrian crossing",
+        "truck in the same lane as a bus",
+        "stopped delivery trucks",
         "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "motorcycle passing between parked vehicles",
-        "motorcycle overtaking a vehicle"
+        "moving wheelchair within 5 meters of an intersection",
+        "van making a tight merge in front of the ego vehicle"
     ],
-    "48c9cd36-68bf-3bb9-ab95-5e0a6fee61ab": [
-        "vehicle two vehicles ahead is braking",
-        "vehicle starting to switch lanes but then going back",
-        "vehicle being followed by ego vehicle while being overtaken on right",
-        "vehicle within 5 meters of a bicycle",
+    "a69fa035-5121-3a39-a3ce-e33e9f54b506": [
+        "pedestrian crossing at bollard",
+        "vehicle changing lanes through bike lane",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "car with a stroller to its left",
+        "ego vehicle at two-lane stop sign with another vehicle at its side",
         "vehicle being passed on the left by another vehicle",
-        "bicycle following closely behind a vehicle",
-        "vehicle in close proximity to bicycle",
-        "vehicle accelerating towards pedestrian crossing",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "pedestrian crossing ahead of ego vehicle"
+        "any vehicle in front of stop sign",
+        "pedestrian near stop sign",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "vehicle in adjacent lane switching lanes to pass a turning vehicle"
     ],
-    "9da07440-1001-3b00-a29f-c8bdc2f2b7d4": [
-        "vehicle accelerating while changing lanes",
-        "vehicle changing lanes",
-        "vehicle accelerating more than two meters per second",
-        "vehicle changing lanes to the right",
-        "vehicle changing lanes while on an intersection",
-        "box trucks within 10 meters of an intersection",
-        "vehicle passing truck with pedestrian crossing ahead",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "box truck changing lanes to the left",
-        "accelerating truck"
+    "ae908cc4-7301-3390-8940-eb9b679a8a39": [
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle at intersection facing another vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "vehicle being tailgated while approaching stopped traffic",
+        "vehicle being overtaken on the left",
+        "vehicle being passed on the left by another vehicle",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "vehicle making a right turn",
+        "vehicle in lane ahead significantly offset from the ego vehicle",
+        "vehicle making an unprotected left turn causing ego vehicle to slow down"
     ],
-    "a7f532a3-87de-3129-8864-258396fd0b50": [
-        "stationary object",
-        "vehicle being crossed by a pedestrian",
-        "vehicle two vehicles ahead is being crossed by a pedestrian",
-        "city bus",
-        "vehicle two cars ahead is being crossed by a pedestrian",
+    "de23dfe1-c0b1-441b-810b-324090dc171b": [
         "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "vehicle turning left while pedestrian crosses at crosswalk",
-        "ego vehicle near articulated bus",
-        "vehicle changing lanes while in bike lane",
-        "moving bus to the front-left of the ego vehicle"
+        "person walking their bike",
+        "bicycle on intersection",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle approaching pedestrians waiting at a crosswalk",
+        "bicycle facing toward moving traffic",
+        "stop sign behind a pedestrian",
+        "vehicle taking up two lanes",
+        "two cars back from the ego vehicle"
     ],
-    "3503b283-fbcd-3835-8779-0cb2b7ef55b0": [
-        "vehicle turning left with a bicycle in front of it",
-        "pedestrian in front of a bicyclist who is to the left of a vehicle",
-        "vehicle two vehicles ahead is at a stop sign",
-        "van with a traffic cone attached to the front",
-        "vehicle turning left while bicycle crosses from right",
-        "bicycle traveling alongside parked vehicles",
+    "399064b4-6df3-3de8-8793-2738f8723ee3": [
+        "wheelchair user at pedestrian crossing",
+        "person stepping out of car onto road in front of ego vehicle",
+        "ego vehicle approaching pedestrian at crosswalk",
+        "vehicle parallel parking",
+        "dog near an intersection",
+        "regular vehicle turning right",
+        "ego vehicle two cars ahead of another vehicle",
+        "pedestrian crossing in front of vehicle at crosswalk",
+        "parked box trucks",
+        "pedestrian walking past right side of vehicle"
+    ],
+    "a674e2e5-3dfd-3dd5-8503-192357b0e96c": [
+        "passenger vehicle near stroller in road",
+        "motorcycle between stopped vehicles",
+        "motorcycle approaching ego vehicle",
+        "dog near pedestrian",
         "bicycle crossing vehicle path at intersection",
-        "vehicle being tailgated while approaching stopped traffic",
-        "vehicle two cars ahead is braking",
-        "bus with another bus in its lane"
+        "bicyclist within 3 meters on either side",
+        "unattended dog",
+        "motorcycle near construction cone",
+        "vehicle rolling through a stop sign but stopping before hitting the ego vehicle",
+        "construction cones under a bridge"
     ],
-    "65f1eefa-cbc3-3d53-9991-dc0500ae9183": [
-        "ego vehicle changing lanes to the right with a vehicle ahead",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle two vehicles ahead is braking",
+    "c91f95de-d041-32f6-8b18-628a220be100": [
+        "vehicle stopped at official signaler",
+        "car on opposite side of road pulling over",
+        "truck sharing a lane with another truck",
+        "ego vehicle passing official signaler",
+        "traffic officer in roadway",
         "vehicle moving at crawling speed",
-        "accelerating vehicle changing lanes to the right",
-        "excavator",
-        "vehicle two vehicles ahead is changing lanes",
-        "vehicle facing toward parked vehicles",
-        "multiple buses within 50 meters ahead",
-        "vehicle accelerating more than two meters per second"
+        "vehicle with animal in front",
+        "semi truck within 30 meters ahead of ego vehicle",
+        "ego vehicle approaching stopped delivery truck",
+        "official signaler at an intersection with the ego vehicle"
     ],
-    "4a78c5db-041b-347b-9821-ceb82f99e3f8": [
+    "5b614cfd-21c2-3b03-94c8-2a6c6bee166c": [
+        "bicyclist riding on the opposite sidewalk",
+        "vehicle cutting across lanes to make a left turn",
         "bicyclist on intersection",
-        "bicycle crossing vehicle path at intersection",
-        "bicycle in vehicle lane with vehicle",
-        "vehicle turning right near construction zone",
-        "ego vehicle driving on streetcar tracks",
-        "bus within 5 meters to either side of ego vehicle",
-        "bicycle in same lane as a vehicle",
-        "bicycle facing toward moving traffic",
-        "truck swerving near construction cones",
-        "pedestrian crossing in front of cyclist near intersection"
+        "bicycle traveling alongside construction indicators",
+        "vehicles being passed by a motorcycle on either side",
+        "ego vehicle with vehicles on both sides",
+        "jaywalking pedestrian",
+        "ego vehicle driving during daylight",
+        "box trucks within 10 meters of an intersection",
+        "ego vehicle with box truck ahead and motorcycle behind"
     ],
-    "6f3dbf4b-9559-340c-a3e4-cbe655bf2059": [
-        "ego vehicle changing lanes to the left",
-        "ego vehicle approaching stopped delivery truck",
-        "pedestrian to the left of a truck",
+    "798354fc-30ee-36f4-83b4-f49c3b307db5": [
+        "vehicle two cars ahead is being crossed by a pedestrian",
+        "vehicle maneuvering between construction barriers",
+        "vehicle with multiple construction cones on the left side",
+        "pedestrian near construction cone",
+        "delivery truck speeding down a narrow road",
+        "ego vehicle approaching stopped truck",
+        "objects getting closer to the ego vehicle",
         "pedestrians over 30 meters away",
-        "ego vehicle traveling down the middle of a three-lane one-way street",
-        "box trucks within 10 meters of an intersection",
-        "vehicle accelerating on intersection",
-        "truck sharing a lane with another truck",
-        "box truck changing lanes ahead",
-        "pedestrian facing toward the bus"
+        "pedestrian facing toward ego vehicle",
+        "people cleaning leaves off the road in front of the ego vehicle"
     ],
-    "bc073372-a582-4c57-a579-a7fcf15b49de": [
-        "vehicle facing the ego vehicle",
-        "pedestrian crossing at bollard",
+    "45488531-3648-3e2d-8f9c-3c287032112d": [
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle two cars ahead is braking",
+        "left lane change while there is a vehicle to the left",
+        "vehicle traveling over 20 meters per second",
+        "bus in bus lane",
+        "vehicles stopping to not block entrance to the road",
+        "ego vehicle getting over to make space for long truck making a left turn",
+        "vehicle facing and heading toward pedestrian group",
+        "pedestrian walking with dog on sidewalk",
+        "passenger vehicle turning right"
+    ],
+    "c6b7a5fb-8cd8-3ee2-8e99-b788eb02e731": [
+        "passenger vehicle swerving left",
         "vehicle to the back right of the ego vehicle",
-        "vehicle near multiple bollards",
-        "accelerating passenger vehicle",
-        "vehicle facing toward parked vehicles",
-        "vehicle getting passed from the right",
-        "the active vehicle in front of the vehicle ahead",
-        "vehicle turning at intersection with nearby pedestrians",
-        "vehicle changing lanes through bike lane"
+        "adjacent vehicle in turn lane continuing straight at intersection",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "vehicle crossing path of another vehicle",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "vehicle changing lanes while on an intersection",
+        "vehicle two vehicles ahead is turning",
+        "vehicle two cars ahead is being crossed by a pedestrian"
     ],
-    "deec57d0-d31b-31ec-aa75-88db5d9dadf5": [
-        "bicycle sharing lane as a regular vehicle",
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "bicycle facing toward a vehicle",
-        "ego vehicle approaching crossing pedestrians",
+    "7905533a-694b-35db-b39f-aec9e33fb3de": [
+        "truck leaving work site",
+        "pedestrian crossing in front of cyclist near intersection",
+        "vehicle braking near jaywalking pedestrian or stroller",
+        "vehicle being overtaken by the ego vehicle",
+        "vehicle approaching and facing a stopped vehicle at an intersection",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle accelerating towards pedestrian crossing",
+        "box truck with multiple construction cones to its right",
+        "vehicle stopped at a stop sign",
+        "pedestrians facing each other at close range, possibly conversing"
+    ],
+    "c2bbb391-a453-36af-b987-9d15f46b8589": [
+        "person walking two dogs",
+        "ego vehicle waiting for pedestrians at crosswalk",
+        "vehicle with animal in front",
+        "dog crossing in front of vehicle",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "wheelchair user at pedestrian crossing",
+        "multiple pedestrians crossing ahead",
+        "pedestrian crossing at bollard",
+        "vehicle turning left while pedestrian crosses at crosswalk",
+        "unattended dog"
+    ],
+    "e368d49a-e02a-3374-876e-8325f66c3574": [
+        "vehicle turning right near construction zone",
+        "vehicle making an left turn during a red light",
+        "vehicle near construction barrel",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "vehicle directly facing a moving pedestrian from 5-15 meters away",
+        "vehicle two vehicles ahead is turning",
+        "active vehicle at stop sign",
+        "vehicle with a bicycle on back",
+        "vehicle hard braking with another vehicle ahead",
+        "vehicle within 5 meters of a bicycle"
+    ],
+    "d67d020a-4d28-3bfd-891d-d6aa7dcf0a69": [
+        "motorcycle between stopped vehicles",
+        "person walking down center of road approaching ego vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
+        "moving pedestrian within 3 meters to the left of ego vehicle",
+        "moving bus to the front-left of the ego vehicle",
         "oncoming vehicle changing lanes",
-        "multiple pedestrians crossing ahead",
-        "pedestrian crossing ahead of ego vehicle",
-        "making a left lane change while there is a vehicle to the right",
-        "vehicle braking near pedestrian crossing",
-        "pedestrian crossing in front of cyclist near intersection"
+        "vehicle getting passed from the right",
+        "vehicle making a turn into ego-vehicle's lane while ego vehicle is occluded",
+        "vehicles being passed by a motorcycle on either side"
     ],
-    "6ef553eb-6dbb-3a2a-ae3e-ed7090b8826a": [
-        "pedestrian on road not facing traffic",
-        "motorcycle overtaking a vehicle",
-        "vehicle traveling over 20 meters per second",
-        "vehicles being passed by a motorcycle on either side",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "a runner crossing the street in the ego vehicle's path",
-        "vehicle turning right with pedestrian waiting",
-        "bicycle following closely behind a vehicle",
-        "motorcycle near construction cone",
-        "vehicle stopped at construction barrel"
+    "131bd3d9-4f85-3ba3-b569-eb88308d79d5": [
+        "vehicle braking heavily",
+        "box truck braking in front of ego vehicle",
+        "bus in front of ego vehicle obstructing view of red traffic light",
+        "pedestrian approaching a parked vehicle",
+        "truck on intersection",
+        "ego vehicle following vehicle that is being overtaken on the right",
+        "bus pulling back onto road in front of ego vehicle after stopping",
+        "accelerating vehicle changing lanes to the right",
+        "vehicle at intersection facing another vehicle",
+        "vehicle at a stop sign"
     ],
-    "7e48bba5-438c-3813-9ce2-97c98868afed": [
-        "vehicle in close proximity to bicycle",
-        "active vehicle at stop sign",
-        "vehicle going through intersection in front of ego vehicle without right of way",
-        "pedestrian walking with stroller",
-        "vehicle facing away from the ego vehicle",
-        "bicycle facing toward moving traffic",
-        "stroller",
-        "bicycle facing toward a vehicle",
+    "e858fb96-6b1f-3025-b40a-f71fd8d28c32": [
+        "vehicle in center turn lane",
+        "vehicle navigating near multiple bicycles",
+        "bus with multiple pedestrians waiting on the right side",
         "motorcyclist traveling opposite to bicycle traffic",
-        "vehicle turning left with a bicycle in front of it"
-    ],
-    "5f016e44-0f38-3837-9111-58ec18d1a5e6": [
+        "pedestrian near bollard",
+        "vehicle turning right with pedestrian in front",
+        "ambulance with emergency lights",
+        "vehicle facing and heading toward pedestrian group",
         "ego vehicle changing lanes to the right with a vehicle ahead",
-        "parked vehicle",
-        "construction item on road",
-        "vehicle with multiple construction cones on the left side",
-        "truck unloading in the middle of the road",
-        "vehicle maneuvering between construction barriers",
-        "ego vehicle near construction barrel",
-        "pedestrian walking between trailers",
-        "bus with multiple pedestrians waiting on the right side",
-        "vehicle approaching multiple pedestrians at crosswalk"
+        "vehicle with multiple bicycles ahead"
     ],
-    "6da5d01e-54a7-3d7a-b86b-e0d6f8d3971d": [
-        "vehicle sharing a lane with another vehicle",
-        "bicycle on intersection",
-        "vehicle making a right turn",
-        "vehicle traveling in the same direction as the ego vehicle",
-        "dog near pedestrian",
-        "vehicle moving at crawling speed",
-        "dog",
-        "pedestrian crossing between stopped buses",
-        "a group of people",
-        "bicycle near a bus"
+    "87e61f5a-083c-305e-9ff4-5f699e85900a": [
+        "vehicle being passed on the left by another vehicle",
+        "vehicle two vehicles ahead is being crossed by a pedestrian",
+        "the vehicle two cars behind the ego vehicle",
+        "vehicle in outside turn lane takes a sharp turn, cutting off the ego vehicle",
+        "ego vehicle traveling on brick street",
+        "vehicle crossing path of another vehicle",
+        "ego vehicle in a 25 miles per hour zone",
+        "vehicle braking near pedestrian crossing",
+        "vehicle braking at pedestrian crossing",
+        "vehicle facing toward parked vehicles"
     ],
-    "386c34fc-ff56-371c-9288-6ba42620f23a": [
-        "ego vehicle changing lanes to the left",
-        "ego vehicle merging between two regular vehicles",
-        "city bus",
-        "vehicle two cars ahead is changing lanes",
-        "vehicle directly facing a moving pedestrian from 5-15 meters away",
-        "ego vehicle near articulated bus",
-        "vehicle cutting across lanes to make a left turn",
-        "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters",
-        "ego vehicle changing lanes to the right with a vehicle ahead",
+    "aaed41a5-47f2-3e0a-9645-2dbd871f744f": [
+        "truck cab with trailer sharing lane with regular vehicle",
+        "bicycle in same lane as a vehicle",
+        "vehicle turning at intersection with nearby pedestrians",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "vehicle behind another vehicle that has a pedestrian on its right side",
+        "vehicle making an unprotected left turn causing ego vehicle to slow down",
+        "vehicle turning right with pedestrian in front",
+        "ego vehicle driving while it is cloudy",
+        "ambulance with emergency lights",
         "moving pedestrian within 3 meters to the left of ego vehicle"
     ],
-    "ed5fc860-c172-39c5-91c0-d712957fb1cd": [
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle with parked bicycles ahead",
-        "ego vehicle two cars ahead of another vehicle",
-        "two cars back from the ego vehicle",
-        "motorcyclist",
-        "ego vehicle with vehicles on both sides",
-        "vehicle within 5 meters of a bicycle",
-        "regular vehicles that are stopped or nearly stopped",
-        "vehicle accelerating towards pedestrian crossing",
-        "pedestrian crossing in front of cyclist near intersection"
+    "51428934-b0a7-3507-94e3-31d37bba38a3": [
+        "car pulling out of gas station onto road in front of ego vehicle",
+        "a group of people",
+        "pedestrian walking with stroller",
+        "bicycle in vehicle lane with vehicle",
+        "ego vehicle changing lanes to the right with a vehicle ahead",
+        "vehicle with multiple pedestrians to the left",
+        "vehicle two vehicles ahead is changing lanes",
+        "stopped vehicle facing a turning vehicle between 5-20 meters away",
+        "passenger vehicle turning right",
+        "car in front of ego-vehicle being cut off"
     ],
-    "d4c7aa45-dfd6-3d71-bb8a-40efd5110d3b": [
-        "truck cab with trailer sharing lane with regular vehicle",
-        "motorcycle near construction cone",
-        "box truck changing lanes to the right",
-        "making a left lane change while there is a vehicle to the right",
-        "group of people",
-        "vehicle turning right near construction zone",
+    "1c8648f9-e7a1-3056-a2c0-19c8827a6a50": [
+        "ego vehicle near stroller on sidewalk",
+        "ego vehicle yielding to pedestrian",
+        "vehicle facing toward a pedestrian at a crosswalk",
+        "person",
+        "stationary construction barrel",
         "truck without trailer",
-        "left lane change while there is a vehicle to the left",
-        "pedestrian crossing at bollard",
-        "pedestrian turning and watching the ego vehicle"
-    ],
-    "c9fc62c5-a289-36e3-a900-7e7807eb2716": [
-        "stopped vehicles at intersection being crossed by pedestrians",
-        "pedestrian crossing ahead of ego vehicle",
-        "multiple pedestrians crossing ahead",
-        "group of people",
-        "passenger vehicle turning left at intersection",
-        "passenger vehicle swerving left",
-        "the vehicle behind another vehicle being crossed by a jaywalking pedestrian",
-        "accelerating passenger vehicle",
-        "vehicle approaching pedestrians waiting at a crosswalk",
-        "ego vehicle in dense traffic with lane-changing vehicles"
+        "bus pulling back onto road in front of ego vehicle after stopping",
+        "ego vehicle approaching construction barrels with a vehicle turning right ahead",
+        "ego vehicle driving at dusk or dawn",
+        "vehicle traveling over 20 meters per second"
     ],
-    "3fca5366-2b2c-387b-b63c-7ae8f9e0cec1": [
-        "motorcyclist",
-        "unattended dog",
-        "car on opposite side of road pulling over",
-        "motorcycle between two vehicles",
-        "vehicles being passed by a motorcycle on either side",
-        "bicycle in same lane as a vehicle",
-        "motorcyclist traveling opposite to bicycle traffic",
-        "vehicle changing lanes through bike lane",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "the active vehicle in front of the vehicle ahead"
+    "a86ee261-b86b-34f7-92ab-be8367d1fc4c": [
+        "vehicle to the back right of the ego vehicle",
+        "vehicle two vehicles ahead is changing lanes",
+        "vehicle going around another vehicle on an intersection to travel through",
+        "multiple buses within 50 meters ahead",
+        "vehicle merging into lane in front of ego vehicle",
+        "vehicle within 5 meters of a bicycle",
+        "stroller",
+        "vehicle two cars ahead is changing lanes",
+        "vehicle changing lanes to the right",
+        "vehicle changing lanes while on an intersection"
     ],
-    "1eb3360f-4c34-3310-9ce6-845ea9272c56": [
-        "motorcycle near stop sign",
-        "motorcycle at stop sign",
-        "vehicle stopped at a stop sign",
-        "vehicle two vehicles ahead is at a stop sign",
-        "stop sign on a road with two lanes per direction",
-        "motorcyclist",
-        "pedestrian between moving vehicles on both sides",
-        "pedestrians using designated crossing",
-        "accelerating vehicle changing lanes to the right",
-        "group of three people"
+    "b48a15fb-2e84-34df-946f-ad72b3d7296f": [
+        "bus with at least 3 pedestrians within 5 meters",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "bicycle behind a bus",
+        "pedestrian to the left of a truck",
+        "vehicle turning left",
+        "vehicle at a stop sign",
+        "vehicle approaching multiple pedestrians at crosswalk",
+        "ego vehicle between three school busses",
+        "vehicle being overtaken while approaching another vehicle",
+        "bus stopping at a bus stop"
     ],
-    "6fa5051b-0220-3e04-8ae3-7a199c2f5877": [
-        "vehicle with multiple pedestrians to the left",
+    "21c0472c-5ba2-3276-aad4-b9aa66cb5fa3": [
+        "objects getting closer to the ego vehicle",
+        "stopped car",
         "vehicle accelerating while changing lanes",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "ego vehicle following vehicle that is being overtaken on the right",
-        "vehicle with their left turn signal on",
-        "school bus on intersection",
-        "vehicle passing school bus at stop",
-        "vehicle traveling over 20 meters per second",
-        "bus in the same lane as a truck",
-        "pedestrian crossing between bollards"
-    ],
-    "b4c0dac8-09d8-3f4b-be7b-9f89473c250c": [
-        "vehicle passing truck with pedestrian crossing ahead",
-        "pedestrian crossing ahead of ego vehicle",
-        "pedestrian crossing between bollards",
-        "moving pedestrian within 3 meters to the left of ego vehicle",
-        "pedestrian to the left of a truck",
-        "vehicle approaching stopped vehicle at intersection",
-        "vehicle turning right at stop sign",
-        "parked box trucks",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "motorcycle in the same lane as a box truck"
+        "pedestrian walking past right side of vehicle",
+        "vehicle facing and accelerating toward pedestrian on road",
+        "non-robot taxi",
+        "dog on roadway",
+        "ego vehicle making right turn during a yellow light",
+        "motorcycle or pedestrian within 5 meters to the right",
+        "making a left lane change while there is a vehicle to the right"
     ],
-    "677c7bcc-f29b-34ae-a91d-74cb863117c8": [
-        "vehicle changing lanes while in bike lane",
-        "ego vehicle slowing down for a yellow light",
-        "semi truck within 30 meters ahead of ego vehicle",
-        "large truck blocking view of vehicle that is about to turn left onto a main road",
-        "vehicle turning right with pedestrian waiting",
-        "vehicle turning right with pedestrian in front",
-        "truck cab with trailer sharing lane with regular vehicle",
-        "vehicle changing lanes through bike lane",
-        "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks",
-        "car driving in bus lane"
+    "e4221cc6-a19d-31ca-bf94-031adb0ea390": [
+        "ego vehicle driving at dusk or dawn",
+        "pedestrian on road not facing traffic",
+        "pedestrian to the back-right of the ego vehicle",
+        "vehicle turning left at intersection while sharing lane with a bus",
+        "ego vehicle near construction cone",
+        "pedestrian near construction cone",
+        "vehicle crossing railroad tracks",
+        "ego vehicle in dense traffic with lane-changing vehicles",
+        "vehicle squeezing between ego vehicle and construction barriers",
+        "pedestrian walking alongside stopped bus"
     ],
-    "28bd43de-e2b7-3c60-a626-0e525f639357": [
-        "vehicle making an unprotected left turn at an intersection",
+    "412ccada-28df-3de2-b394-9cba3fca5bdf": [
+        "vehicle two cars ahead is braking",
+        "ego vehicle approaching stopped truck",
+        "pedestrian approaching a parked vehicle",
+        "motorcycle or pedestrian within 5 meters to the right of the ego vehicle",
+        "van facing the wrong way in the middle turn lane",
         "vehicle with a bicycle to its right",
-        "vehicle in close proximity to bicycle",
-        "vehicle hard braking with another vehicle ahead",
-        "vehicle aggressively passing another during a turn from the same lane",
-        "vehicle being passed on the left by another vehicle",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
-        "vehicle approaching stopped vehicle at intersection",
-        "bicycle in same lane as a vehicle",
-        "vehicle with multiple bicycles ahead"
+        "pedestrian between moving vehicles on both sides",
+        "bicycle on intersection",
+        "person walking down center of road approaching ego vehicle",
+        "passenger vehicle turning right"
     ],
-    "a89557fc-1268-36e5-9cce-335f2da27bc8": [
-        "pedestrian crossing in front of cyclist near intersection",
-        "car following closely behind bicyclist",
-        "bicycle traveling with vehicle traffic",
-        "accelerating truck",
-        "ego vehicle approaching cyclist in same lane",
-        "ego vehicle approaching crossing pedestrians",
-        "multiple pedestrians crossing ahead",
-        "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle",
+    "4fcdebe7-b52f-39e7-a5bc-c664eeba5e7b": [
+        "red cars",
+        "pedestrian walking alongside bollard",
+        "group of three people",
+        "ego vehicle near bollard",
+        "pedestrian approaching a parked vehicle",
+        "jaywalking pedestrian",
+        "any vehicle in front of stop sign",
+        "pedestrian crossing between bollards",
         "bicyclist within 3 meters on either side",
-        "ego vehicle following vehicle that is being overtaken on the right"
-    ],
-    "44e49f1b-17e1-3da6-9b8b-97e754d58f7a": [
-        "vehicle at a stop sign",
-        "at least active 2 vehicles within 15 meters behind ego vehicle",
-        "vehicle to the back right of the ego vehicle",
-        "two cars back from the ego vehicle",
-        "the vehicle two cars in front of the ego vehicle",
-        "bicycle passing by parked vehicle",
-        "vehicle traveling over 20 meters per second",
-        "bicycle traveling alongside parked vehicles",
-        "ego vehicle approaching pedestrian at crosswalk",
-        "ego vehicle following bicycle closely"
+        "construction worker behind a fence"
     ]
 }
\ No newline at end of file